Authors:
Altan Onat
1
and
Metin Ozkan
2
Affiliations:
1
Anadolu University, Turkey
;
2
Eskisehir Osmangazi University, Turkey
Keyword(s):
Combined Direct and Indirect Adaptive Control, Trajectory Tracking Control, Nonholonomic Wheeled Mobile Robots, Multiple Models Approach.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robot Design, Development and Control
;
Robotics and Automation
;
Vehicle Control Applications
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.