Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots - Combined Direct and Indirect Adaptive Control using Multiple Models Approach

Altan Onat, Metin Ozkan

Abstract

This paper presents a novel methodology for the trajectory tracking control of nonholonomic wheeled mobile robots using multiple identification models. The overall control system includes two stages. In the first stage, a kinematic controller developed by using kinematic model provides the required linear and angular velocities of the robot for tracking a reference trajectory. In the second stage, the required velocities are taken as the inputs to an adaptive dynamic controller which uses multiple adaptive models for the parameter identification. The proposed adaptive dynamic controller is developed using a combined direct and indirect adaptive control approach where both prediction and tracking errors are used for identification. Simulation results show the effectiveness of the proposed combined direct and indirect control scheme and multiple models approach.

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Paper Citation


in Harvard Style

Onat A. and Ozkan M. (2012). Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots - Combined Direct and Indirect Adaptive Control using Multiple Models Approach . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 95-104. DOI: 10.5220/0004039800950104


in Bibtex Style

@conference{icinco12,
author={Altan Onat and Metin Ozkan},
title={Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots - Combined Direct and Indirect Adaptive Control using Multiple Models Approach},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={95-104},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004039800950104},
isbn={978-989-8565-22-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots - Combined Direct and Indirect Adaptive Control using Multiple Models Approach
SN - 978-989-8565-22-8
AU - Onat A.
AU - Ozkan M.
PY - 2012
SP - 95
EP - 104
DO - 10.5220/0004039800950104