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Adaptive control for simultaneous tracking and stabilization of wheeled mobile robot with uncertainties. Journal of Intelligent & Robotic Systems, 2023, 108(3), 46. DOI: 10.1007/s10846-023- 01908-0. 求助這篇論文的SCI檢索信息，非常感謝��！

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Adaptive Control for Simultaneous Tracking and Stabilization of Wheeled Mobile Robot with Uncertainties
By
Cui, MY (Cui, Mingyue) [1] , [2] ; Liu, HZ (Liu, Hongzhao) [1] ; Wang, X (Wang, Xing) [1] ; Liu, W (Liu, Wei) [1]
(provided by Clarivate)
Source
Volume108Issue3
DOI10.1007/s10846-023-01908-0
Article Number
46
Published
JUL 2023
Indexed
2023-07-21
Document Type
Article
Abstract
In this work, an adaptive control strategy is proposed for simultaneous tracking and stabilization of nonholonomic mobile robot with uncertainties. The tracking controller is consisted of two subcontrollers: position controller and direction angle controller. The hyperbolic tangent function is employed to design the position control law, and the adaptive laws of the uncertainties are obtained by Lyapunov direct method, so as to guarantee the global stability of the tracking controller. An adaptive sliding mode controller is designed for control of the direction angle, and the influence of direction angle error on the stability of the position tracking system is considered. By adjusting the control gain coefficients of the two control subsystems, the convergence speed of the direction angle control subsystem is far greater than that of the position control subsystem, so as to assure the asymptotic convergence of the whole robot control system. Furthermore, the stabilization problem is converted into an equivalent tracking problem through the selection of appropriate reference velocities. The asymptotic convergence of pose errors for mobile robot is proved by the Lyapunov stability theory. Simulations and experiments are carried out to verify that the designed control method can simultaneously handle the problems of trajectory tracking and stabilization of mobile robot.

Keywords
Author KeywordsTracking controlStabilization controlAdaptive controlSliding mode controlMobile robots
Keywords PlusSLIDING MODE CONTROLPOINT STABILIZATIONSATURATION
Author Information
Corresponding Address
Cui, Mingyue
(corresponding author)
Nanyang Normal Univ, Coll Mech & Elect Engn, Nanyang 473061, Peoples R China
Corresponding Address
Cui, Mingyue
(corresponding author)
Minist Educ, Key Lab Ind Internet Things & Networked Control, Chongqing 400065, Peoples R China
Addresses
1 Nanyang Normal Univ, Coll Mech & Elect Engn, Nanyang 473061, Peoples R China
2 Minist Educ, Key Lab Ind Internet Things & Networked Control, Chongqing 400065, Peoples R China
E-mail Addresses cuiminyue@sina.com
Categories/ Classification
Research AreasComputer ScienceRobotics
Citation Topics
4 Electrical Engineering, Electronics & Computer Science
4.29 Automation & Control Systems
4.29.1716 Nonholonomic Systems
Sustainable Development Goals
11 Sustainable Cities and Communities
Web of Science Categories
Computer Science, Artificial IntelligenceRobotics
Funding
Funding agency
Grant number
Natural Science Foundation of Henan of China 202300410303
Open fund project of Key Laboratory of Industrial Internet of Things amp; Networked Control of the Ministry of Education of China 2020FF05
Key Scientific Research Project of Henan Colleges and Universities of China 21B120001
Key Scientific and Technological Project of Henan Province 232102211047
Nanyang Normal University Foundation of China 2019STP002
Language
English
Accession Number
WOS:001024978700002
ISSN
0921-0296
eISSN
1573-0409
IDS Number
L7JG1

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