Email this article TRACKING CONTROL OF WHEELED MOBILE ROBOT WITH MODEL UNCERTAINTIES AND INPUT DISTURBANCE: A NOVEL APPROACH WITH DISTURBANCE ESTIMATION AND ARBITRARY CONVERGENCE TIME CONTROLLER
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Received: 14/10/21 Revised: 30/11/21 Published: 30/11/21Authors
1. Nguyen Hoai Nam
, Hanoi University of Science and Technology2. Le Ngoc Quynh, Hanoi University of Science and Technology
3. Pham Tuan Nhat Minh, Hanoi Amsterdam High School for Gifted
Abstract
Wheeled mobile robots have been widely applied in practice and they have drawn a lot of interests from the research community due to their non-holonomic constraints, nonlinearity and uncertain load. In this work, a novel tracking control approach is proposed for wheeled mobile robots under model uncertainties and input disturbance. The new approach is based on a disturbance estimator and an arbitrary convergence time controller. The model uncertainties and input disturbance will be compensated by the disturbance estimator whereas velocity errors will converges to zero in small prescribed settling time by the arbitrary convergence time controller, which will improve control performance of the closed-loop system. The effective of the proposed method will be verified through numerical simulations.
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DOI: https://doi.org/10.34238/tnu-jst.5172
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