Adaptive trajectory tracking control of wheeled mobile robots with disturbance observer

摘要

In this paper, the trajectory tracking problem for a wheeled mobile robot in the presence of kinematic and dynamic uncertainties has been addressed. Uncertainties are modeled as lumped disturbances. A kinematic controller based on feedback linearization approach and a dynamic controller based on model reference adaptive control are designed in the presence of disturbances. In order to ensure both robustness and imple-mentability of the controllers, the disturbances are estimated by a generalized linear matrix inequality-based disturbance observer. Simulation results show the effectiveness of the proposed method.