Online Identification Path Following Cascade Control of Non-holonomic Mobile Robot

Authors

Zilong Liu, 1. School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China; ;
Shaokai Hu, 1. School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China; ;
Liu Jie, 2. Core of Measure Control, North East Light Alloy Co. , Ltd. , Harbin 150060, China;
Yagang Wang, 1. School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China; ;

Abstract

Abstract: A DC motor driven wheeled mobile robot path following control problem was considered, where the robot model was regarded as a cascade system consisting of the equation of the drive motor and the mobile robot kinematics equations. Taking the output speed of motor-driven equation as the input of the kinematic equations, identifying these time-varying parameters of the driven equation online, adding the values after identification to the controller, a feedback linearization path following control scheme was proposed. The scheme both investigates the dynamic characteristics of kinematics model and motor drive, so that the results better follow the actual cases. The stability proof and simulation results based on Lyapunov show the correctness and validity of the method.

Recommended Citation

Liu, Zilong; Hu, Shaokai; Jie, Liu; and Wang, Yagang (2020) "Online Identification Path Following Cascade Control of Non-holonomic Mobile Robot," Journal of System Simulation: Vol. 27: Iss. 11, Article 18.
Available at: https://dc-china-simulation.researchcommons.org/journal/vol27/iss11/18

First Page

2748

Revised Date

2013-04-18

DOI Link

https://doi.org/

Last Page

2755

CLC

TP242.6

Recommended Citation

Liu Zilong, Hu Shaokai, Liu Jie, Wang Yagang. Online Identification Path Following Cascade Control of Non-holonomic Mobile Robot[J]. Journal of System Simulation, 2015, 27(11): 2748-2755.