-ien < = o "an$, "in$ < >$an Euan, >$uoc < = uyen Doan, -$an D >$an @uoc

2013 International Conference on Control, Automation and Information Sciences (ICCAIS)

-rackin control for mobile *obot 2it$ uncertain %arameters based on model reference ada%ti&e control
Abstract: The paper presents a model refeference adaptive control algorithm for mobile robot with parameter uncertainties and unstructured dynamics to guarantee that robot can track to desired trajectory asymptotically. The controller has been designed in two consecutive parts; one is a nonlinear kinematic controller and the other is the model reference adaptive controller using feedback signal from mobile robots actuator. The simulation results show the efficiency and the aplication ability of the proposed controller

Index TermsMobile Robot Tracking !onlinear "ontrol #daptive "ontrol Model Reference #daptive "ontrol !onholonomic $ymbols
Symbols Unit k !m2 k k !m2 Definition "oment of inertia of mobile robot #ei $t of mobile robot "oment of motor (left, ri $t) Ada%ti&e ad'ustment factor of control loo% dynamics Ada%ti&e ad'ustment factor of sam%le model #idt$ of mobile robot #$eel radius of mobile robot

I m t1 t2

k x , k y , kq

g, b
2( *
m)t m)t

I+ S,S-." /0.*0I.#

1. mobile robot is an automatic mac$ine t$at is ca%able of mo&ement in any i&en en&ironment because of usin 2$eels, cra2ler 2$eels, or le s+ Due to t$e fle3ibility in t$e mo&ement of mobile robot, many researc$ers are researc$in and de&elo%in its intelli ence and ada%tability in different en&ironments+ -$en, t$e trackin control 2it$ model reference ada%tation for mobile robot is t$e issue is bein interested, s%ecially 2$en robot4s %arameter c$an es and dynamical model is effected by e3o enous disturbances+ "any studies in non$olonomic control systems $a&e been carried on in %ast decade 51,2,3,67+ 8or e3am%le, trackin control usin direct (ya%uno& met$od 53,10,19,1:7, time &ariant state feedback 527, and many ot$er
; -ien < = o "an$ 2orks at Institute of >$ysic, 0ietnam Academy of Science and -ec$nolo y, =o 1?, 1oan @uoc 0iet Street, CauAiay District, 1anoi, 0ietnam (corres%ondin aut$or emailB nmtienCio%+&ast+ac+&n) "in$ D >$an Euan 2orks at 1anoi Uni&ersity of Sience and -ec$nolo y, =o1, Dai Co 0iet Street, 1ai Fa -run District, 1anoi, 0ietnam (corres%ondin aut$or emailB min$3%<acCmail+$ut+edu+&n) >$uoc<= uyen Doan 2orks at 1anoi Uni&ersity of Sience and -ec$nolo y, =o 1, Dai Co 0iet Street, 1ai Fa -run District, 1anoi, 0ietnam (corres%ondin aut$or emailB %$uocnd<acCmail+$ut+edu+&n) -$an <>$an @uoc 2orks at 1anoi Uni&ersity of Sience and -ec$nolo y, =o1, Dai Co 0iet Street, 1ai Fa -run District, 1anoi, 0ietnam (corres%ondin aut$or emailB t$an %G<acCmail+$ut+edu+&n)

%rimiti&e met$ods are desi ned on t$e basis of full ascertain kinematic model 5127+ *ecently, ada%ti&e met$ods are used to control non$olonomic systems because t$ese systems are uncertain systems and effected by e3o enous disturbances+-$e researc$s usin t$is met$od are bein interested suc$ as met$ods base on slidin mode control (S"C)< control for 0ariable Structure System (0SS),Ada%ti&e control (ya%uno& function 5H,6,I,13,1H,167+-$e backste%in control a%%roac$ associate 2it$ fuJJy controller or neuro<controller based on uni&ersal a%%ro3imation %ro%erty of t$em51H,1:7, and some met$od are based on "odel *eference Ada%ti&e Control ("*AC)+ 1o2e&er, most of t$ese researc$s $a&en4t considered effect of ot$er disturbances+-$e ada%ti&e met$ods $as im%ro&ed ca%able of mo&ement of mobile robot in different en&ironments considerably, but many kinematic %roblems $a&en4t 'ust been sol&ed t$orou $ly B t$e oscillation of robot4mo&ement, effects of unstructured unmodeled dynamics+-$ese %roblems are considered by t$is article+ -$e robot studied in t$is researc$ is a kind of a sim%le non$olonomic mec$anical system 2$ic$ $a&e t$e uncertain %arameters (m and I) and e3o enous disturbances td + In t$is article, 2e su est a model reference ada%ti&e control al orit$m t$at can com%ensate not only uncertainties in t$e %arameters of dynamic model ( mass and Inertia) but also e3o enous disturbances

d +

"ore&er,

t$e

ada%ti&e

controller not only uarantees t$e trackin of robot to desired tra'ectory Guickly,e3actly but also robot4s mo&ement smoot$ly on bad terrain+ -$e controller consist of t2o control loo%s, t$e outside loo% is nonlinear kinematic controller (trackin %osition and orientation) and t$e inner loo% is model reference ada%ti&e control (trackin linear and an ular &elocities) 2$ic$ uses feedback<si nal from *obot4s actuators+ -$e article is com%osed of ei $t sectionsK after t$is introduction, in t$e second section, t$e kinematic model and t$e dynamic model of mobile robot is %resented+ Section t$ird %resents structure of control system+ Section fourt$ %resents nonlinear control met$od for asym%totic stability of

2013 International Conference on Control, Automation and Information Sciences (ICCAIS) kinematic eGuations(t$e outside<loo% controller)+ In t$e fift$ section,Inner<loo% dynamic controller (2it$ ascertain %arameters) is considered+ Section si3t$ %resents t$e model reference ada%ti&e control la2+-$e simulation results are %resented in section se&ent$ and t$e last section contains t$e concludin remarks+ II+ "/FI(. */F/- D,=A"IC "/D.( A lar e class of mec$anical non$olonomic systems is described by t$e follo2in form of dynamic eGuations based on .uler (a ran e formulation 52,3,:7B & & & & M (q)q + C ( q, q )q + G (q ) + t d = B (q )t + J T (q )l #$ile t$e non$olonomic constraint isB & J (q )q =0 #$ere B L q is t$e n dimensional &ector of confi uration &ariables+ L "(G) is a symmetric %ositi&e definite n x n matri3 & & %resents t$e n &ector of centri%etal and coriolis )q L C ( q, q torGues+ L A(G) is t$e n &ector of ra&itational torGues+ L d denotes bounded unknown disturbances: The dynamical equations of the mobile base in Figure1 can be expressed in the matrix form (1): m 0 0 0 & M (q) = 0 0 m 0, C (q, q) = , G ( q) = 0, 0 0 I 0 where - sin q cos q cos q t1 1 T B(q) = , t = , # (q) = cos q sin q sin q , t2 r 0 - " " & & cos q + y & sin q)q l = - m( x
c c

>ose &ector of robot in t$e surface is defined as q = ( x, y , q)T + #$ere x and y are t$e coordinates of %oint CK center of a3is of 2$eels, and is t$e orientation an le of robot in t$e inertial frame+ /ne can 2rite t$e dynamic eGuations of mobile robot accordin to .Guation (1), usin & &are Jero+ )q t$e fact t$at A(G) and C (q, q sin q & & m 0 0 x cosq cosq d x t 1 1 0 m 0 + & & y = sin q sin q - cosq dy l - t2 " 0 0 I & & q - $ dq $ 0 #$ere B L t1 and t 2 are t$e torGues of left and ri $t motors+ L m and I %resent t$e mass and inertia of robot res%ecti&ely+ L * is t$e radius of 2$eels and ( is t$e distance of rear 2$eels+ $ 1 Assumin t! = (t1 + t2 ) and ta = ( t1 - t 2 ) " " #$ere t! and t a are linear and an ular torGues res%ecti&ely+ .Guation (6) becomesB t d t l l & & x = ! cosq + sin q - x = ! cosq + sin q - d x m m m m m d y t! t! l l & & y = sin q cosq = sin q cosq - d y m m m m m t t d & & q = a - q = a - dq I I I Differentiatin .Guation (3)B v v & & & & q =S (q) + S ( q ) & 2 2 -$ereforeB & & & &osq x = - vq sin q + vc & & & & y = vq cosq + v sin q & & & q =2
& & Com%arin left $and side of eGuation (?) ( q ) 2it$ eGuation (9),one can 2riteB
& & t! l cos q + sin q - d x = - vq sin q + v cos q m m & & t! l sin q cosq - d y = vqcosq + v sin q m m

d = ( d x , d y , d ) T
(In t$is study, td is assumed t$at it4s &ariability is slo2 so it4s &alue is considered as constant td const ) L F(G) is t$e n x r in%ut transformation matri3 (rMn) L is t$e r dimensional &ector of in%uts L is t$e (a ran e multi%liers of constrained forces+ Fy ref52,3,H7,t$e relation bet2een &elocities in different coordinates isB v & q = S (q ) 2 cosq 0 S (q) = sin q 0 #$ereB 0 1 And non<$olonomic constraint isB & &osq = 0 x sin q - yc A sim%le structure of differential dri&e mobile robot is s$o2n in fi ure 1+ -2o inde%endent analo ous DC motors are t$e actuators of left and ri $t 2$eels, 2$ile one or t2o free 2$eel casters are used to kee% t$e %latform stable+

Figure 1: Coordination of Mo i!e "o ot

2013 International Conference on Control, Automation and Information Sciences (ICCAIS)

ta & - dq = 2 I "ulti%lyin t$e first %art of .Guation (9) by cosq and t$e second %art by sin q and addin t$e results t$e follo2in is obtainedB t t & v = ! - (d x cos q + d y sin q) = ! - d xy , m m ta &= - dq 2 I

#$ere v and w are t$e linear and an ular &elocities of mobile robot+ -$is is *obot4s dynamic model+ -$e ot$er %art of normal form is 2ritten accordin to .Guation (3)B & x = v cos q & y = v sin q & q=2 Usin kinematic model (11) and dynamic model (10) abo&e,in t$e ne3t section, t$e controller $as been desi ned in t2o consecuti&e %artsK one is a nonlinear kinematic controller and t$e ot$er is t$e model reference ada%ti&e dynamic controller to %ro&ide trackin of desired linear and an ular &elocities III+ S-*UC-U*. /8 C/=-*/( S,S-." .3tractin t$e kinematic model from dynamic eGuations, t$e control system $as been desi ned in t2o control loo%+ -$e outside< loo% can use t$e nonlinear kinematic controllers to stabiliJe t$e confi uration &ariables+ Since trackin control of mobile robot is sim%ly reduced to re ulariJation %roblem of error &ariables in kinematic model+ /ut%ut of t$e nonlinear kinematic controller<outside loo% controller< are t$e desired linear and an ular &elocities 2$ic$ are t$e reference in%uts for t$e inner<loo% dynamic controller+ Flock dia ram of t$is structure is s$o2n in fi 2+
vd 2 d Mode! "eference ve #da*tive 2 e ,ynamic Contro!!er t 1 #ctuator ta .,C Motor/

xe cosq sin q 0xr - x ye = yr - y sin q c os q 0 qe 0 1 0 qr - q ( xe , ye , qe ) are t$e error &ariables in mobile coordinate system 2$ic$ is attac$ed to t$e robot+ Differentiatin left $and side of .Guation (13) and usin .Guations (11), (12) t$e error dynamics is 2ritten in t$e ne2 coordinate systemB x & v cosqe - 1 ye e r v y & = v sin q + 0 x e r e e ' & 2 0 - 1 q e r (v ')T is t$e control &ector of t$e Ninematic model+ In assi nin t$e control la2s in ne3t section, t$ese &ariables v and w are %resented by vd and 'd in order to distin uis$ t$em from t$e actual linear and an ular &elocities+ =ote t$at vd and 'd are t$e desired &elocities to make t$e Ninematics stable-$e dynamic controller is %ro%osed based on .Guations (10) and (13) in 2$ic$ xe , ye and qe are t$e state &ariables and t! , t a are t$e control si nals+ I0+ S,=-1.SIS /8 "/D.( *.8.8.*.=C. ADA>-I0.
C/=-*/((.*

-$e controller $as been desi ned in t2o consecuti&e %artsK one is a nonlinear kinematic controller and t$e ot$er is t$e model reference ada%ti&e controller usin feedback si nal from mobile robot4s actuator #& (utside)!oo* non!inear kinematic contro!!er -$e (ya%uno& based nonlinear controllers are t$e sim%lest but also successful met$ods in kinematic stabiliJation 53,H,127+-$e constructi&e (ya%uno& function isB 1 + = ( xe2 + ye2 ) + (1- cos qe ) 2 -ime deri&ati&e of .Guation (16) becomesB &= v x cos q - v x + v sin q y + ' sin q - ' sin q + r e e d e r e e r e d &= (v cos q - v ) x + sin q (v y + ' - ' ) +
r e d e e r e r d

qr

qe -inematic Contro!!er

Mo i!e "o ot

v 2

& ne ati&e vd and 'd are c$osen as follo2 to make + definiteB vd = vr cos qe - k x xe

Figure %: Structure of contro! system&

A %at$ %lanner defines t$e referencetra'ectory as a time &ariant %ose &ector qr = ( xr yr qr )T +-$is -ra'ectory s$ould satisfy not only t$e kinematic eGuations but also t$e non$olonomic constraint (H)B & x r = vr cos qr , & y r = vr sin qr , & q =2
r r

'd = 'r + vr ye + kq sin qe Substitutin .Guation (1:) in .Guation (19)B &= - k x 2 - v k sin 2 q + x e r q e
& is only ne ati&e semi definite+ It4s clear t$at + Usin (aSalle4s %rinci%le, con&er ence of ye to Jero is uaranteed, so t$e closed loo% system is lobally asym%totically stable+ C$an in 'd in .Guation (1:) byB 'd = 'r + vr k y ye + kq sin qe

& & x r sin qr = yr cosqr -$e error dynamics is 2ritten inde%endent of t$e inertial coordinate frame by Nanayama transformation 537B

-$ree 2ei $tin ( k x , k y , kq ) +

%arameters of error &ariables 2ill be

2013 International Conference on Control, Automation and Information Sciences (ICCAIS) Alobal asym%totic stability of t$e closed loo% system can be %ro&ed by t$e follo2in (ya%uno& functionB 1 2 + = ( xe2 + ye ) + (1- cos qe ) ! k y k > 0 y 2 A similar controller and a discussion on t$e effect of control %arameters is %resented in 5H,127+ B& T0e reference mode! of ve!ocity errors: /ut%ut of t$e nonlinear controller of last section is t$e desired linear and an ular &elocities for Ninematic stabiliJation (%osition and orientation of robot)+ -$ese &alues are as t$e reference in%uts for t$e dynamic controller+ In t$is section, t$e follo2in control la2s are used to %re%are trackin of vd and 'd 2it$ assumin t$at uncertain %arameters (m and I) and e3o enous disturbance constant ( system, at least four times lar er t$an t$e sam%le time ( Ts )+ Substitutin T 1 in eGuation (26) to eGuation (21),t$e eGuation (21) 2as re2ritenB - 1 & t! = mv (vd - v ) + md xy d + mT
- 1 & = mv (vd - v ) + m(d x cos q + d y sin q) d + mT - 1 & ta = I' ( 'd - ') + Id q d + IT

C& Mode! reference ada*tive contro!) Inner !oo* dynamic contro!!er In t$e control structure of last section t$e &alues of uncertain elements

( m, I , d x , d y , d , d xy ) are assumed to

d xy , d ) 2ere i&enB
& t! = mv d + k! ( vd - v ) + md xy & ta = I' d + k a ( 'd - ') + Id q #$ere k! and ka are t2o %ositi&e control %arameters+ Substitutin .Guation (21) in .Guation (10)B & mv d + k! (vd - v ) + md xy & v = - d xy = m k! & v (vd - v) d + m & + ka ( 'd - ') + Idq I' &= d 2 - dq = I ka & 2 (2 d - 2) d + I .rror of desired &elocity and actual &elocity is defined asB

be kno2n+ In fact, not only t$e measurements of t$ese elements $a&e uncertainties, but also t$ey c$an e in a lar e area in most a%%lications+ 8urt$ermore, e3o enous disturbance d is noticeable 2$en t$e robot 2orks in different terains+ So t$e control la2s s$ould be 2ritten in t$is formB O& O - 1 ( vd - v ) + md O O xy t! = mv d + mT
O & + IT O - 1 ( ' - ') + Id OO ta = I' d d q

O cos q + d O sin q) O& O - 1 ( vd - v ) + m O (d t! = mv d + mT x y O cos q + d O sin q O& O - 1 ( vd - v ) + d = mv O O d + mT mx my O & + IT O - 1 ( ' - ') + Id OO ta = I' d d q
O, O , I and I -$e errors bet2een m and m

O , d xy and d xy

O affect t$e rate of con&er ence, and may cause d and d

undesired oscillations es%ecially in a di ital im%lementation of controller+ In order to attenuate t$is effect, a%%ro%riate ada%tation rules are %ro&ided in t$is section+ 8ormulation is described for linear &elocity+ Similar 2ork can be done for an ular &elocity+ Similar to t$e control la2s (2:), t$e model reference ada%ti&e control la2 (model reference is defined by eGuation (26) ) s$ould beB - 1 & t! = qm v (vd - v) + qmx cos q + qmy sin q d + qmT "ulti%lyin bot$ t$e left and t$e ri $t $and side of t$e first eGuation of eGuation (10) 2it$ mB & mv = t! - m(d x cos q + d y sin q) = t! - (d mx cos q + d my sin q) Substitutin .Guation (2?) in .Guation (2I)B - 1 & & mv = qm v (vd - v) + qmx cos q + qmy sin q d + qmT - (d mx cos q + d my sin q)
- 1 & = qm v (vd - v) + (qmx - d mx ) cos q d + qmT

ve = vd - v 2 e = 'd - ' Substitutin .Guation (23) in .Guation (22)B k! & v ve = 0 e + m ka & ' 'e = 0 e + I ConseGuently e3%onential con&er ence of v and w to t$e desired &alues is uaranteed+
Fecause

k! , k a is o%tional, let

k! ka = = T 1 m I

t$en t$e reference model for &elocity error is - 1 & v T- 1 > 0 e + T ve = 0

- 1 & ' 'e = 0 e + T

2$ere T 1 is in&erse of t$e time constant of error dam%in -, 2$ic$ s$ould be manually tuned de%endin on se&eral %arametersK suc$ as Actuator limitations, con&er ence rate of nonlinear kinematic controller 510,127 and in a discrete

+ (qmy - d my )sin q

2013 International Conference on Control, Automation and Information Sciences (ICCAIS) 8rom t$e first eGuation of eGuation (29) and eGuation (2?), t$e desired &alue of %arameters of linear &elocity controller P P is qmP = m K qmx = d mx K qmy = d my "ulti%lyin bot$ t$e left and t$e ri $t $and side of t$e first eGuation of eGuation (2H) 2it$ m and redefine ve in eGuation (23),(2H) by usin ve = vd - vm (similar 2ork is done for an ular &elocity), t$e first eGuation of eGuation (2H) is 2ritten in t$e form of .Guation (30)B - 1 & & mv (vd - vm ) m = mv d + mT -$e ada%tation error is t$e difference bet2een v and t$e &elocity of t$e reference model (vm ) B e = v - vm + -ime deri&ati&e of e i&es t$e error dynamicsB de dv dvm - 1 & m = m( ) = (qm - m)v d + T v d (qm - m ) + dt dt dt + mT - 1vm - qmT - 1v + (qmx - d mx ) cos q + (qmy - d my ) sin q
- 1 - 1 & = - mT - 1v + mT - 1vm + (qm - m)(v d + T vd ) - qmT v +

-$e follo2in constructi&e (ya%uno& function is introduced by t$e t$eory of "odel *eference Ada%ti&e System ("*AS) 517B

+1 =

m 2 e + ( m m)2 + mx ( mx d mx ) 2 + 2 + my (my d my )2

, mx , my > 0
It4s clear t$at +1 is %ositi&e definite 2it$ all uncertain &alues of m Q0+ & from .Guation Its deri&ati&e is obtained by substitutin me (32)B & + & + 2g (q - d )q &= mee & + + 2g (qm - m)q 1 m mx mx mx mx & + 2g (q - d )q
my my my my - 1 - 1 & & = - mT e + (qm - m)(ev d + eT vd - eT v + 2gqm ) + &) + (q - d )(e cos q + 2g q - 1 2 mx mx mx mx

+ mT v + (qmx - d mx ) cos q + (qmy - d my ) sin q

- 1 & = - mT - 1e + (qm - m)(v vd - T - 1v ) + d + T

- 1

&) + (qmy - d my )(e sin q + 2 g my q my

+ (qmx - d mx ) cos q + (qmy - d my )sin q

+ v d + 2 d

d
Mode! reference ada*tive dynamic contro!!er
t 1 t a

xr qr = y r r

4q (I)

vr 2
r

vd 2

Mo i!e ro ot #ctuator (10) -inematics of mo i!e ro ot

d ! dt

x y q = q

-inematic contro!!er
qe v 2

ve 2

v 2

Figure 1: B!ock diagram of Mo i!e "o ot 2s *ro*osed contro! system Ada%tation rules are defined by settin t$e second, t$e &= t a - Id q = t a - d I q = I2 t$ird, and t$e fourt$ %arts of eGuation (3H) to Jero to make - 1 & = qI ' ( 'd - ') + qI - d I q d + qI T & ne ati&e definite 2it$ m > 0 B + 1 8rom t$e second eGuation of eGuation (21) and eGuation - 1 & e v + T ( v v ) (39), t$e desired &alue of %arameters of an ular &elocity d qm d d =- P P controller is I = I K I = d I dt 2g - 1 "ulti%lyin bot$ t$e left and t$e ri $t $and side of t$e & e v (vd - v) t d + T dt qm = - second eGuation of eGuation (2H) 2it$ I and redefine 'e in 0 2g eGuation (23),(2H) by usin 'e = 'd - 'm , t$e second t d qmx e cos q e cos q eGuation of eGuation (2H) is 2ritten in t$e form of .Guation = qmx = dt dt 2g mx 2 g (3:)B mx 0 - 1 t & & I' ( 'd - 'm ) m = I'd + IT d qmy e sin q e sin q = qmy = dt dt 2g my 2g my -$e ada%tation error is t$e difference bet2een (2) and t$e 0 Similarly for t$e an ular &elocityB &elocity of t$e reference model (2 m ) B e R = 2 - 2 m -ime - 1 & deri&ati&e of e3 i&es t$e error dynamicsB t a = qI ' ( 'd - ') + qI d + qI T "ulti%lyin bot$ t$e left and t$e ri $t $and side of t$e second eGuation of eGuation (10) 2it$ IB

de R -1 -1 & = - IT - 1e R+ (qI - I )(' d + T 'd - T ') + qI - d I q dt

2013 International Conference on Control, Automation and Information Sciences (ICCAIS) -$e follo2in constructi&e (ya%uno& function is also introduced by t$e t$eory of "odel *eference Ada%ti&e System ("*AS) 517B (a)
7 0 6 0 5 0 4 0 3 0 2 0 1 0 0 1 0 0

I +2 = e R2 + ( I I ) 2 + ( I d I ) 2 2 I > 0, > 0, > 0 & +2 = - IT - 1e R2 +

- 1 &) + & + (qI - I )(e R 2 2 d - e R T - 12 + 2bq d + e RT I & + (qI - d I q )(e R+ 2bqI ) - 1 & eR 2 (2 d - 2) d qI d + T =dt 2b d qI eR =dt 2b

1 0

(b)
Figure 6 .a/,esired and tracking tra7ectory8 . /T0e !inear ve!ocity and t0e angu!ar ve!ocity in a sim*!e contro! system 'it0 t0e nomina! va!ues of uncertain *arameters&
6

-$e %arameters (g , g m3 , g my , b , b ) 2ill be tuned to reac$ t$e desired %erformance+ 8i ure 3 is Flock dia ram of "obile *obot Dynamic Controller %ro%osed 0+ SI"U(A-I/= *.SU(-S -$is section illustrates t$e %erformance of t$e %ro%osed controller, in t$e %resence of uncertainties by usin "atlab Simulink + 8or ad&anta e in com%arin , t$e normal controller and t$e model reference ada%ti&e controller 2ill be simulated 2$en uncertain %arameters ( m5I5

-2

-4

&
7 0 6 0 5 0 4 0 3 0 2 0 1 0 0 -1 0 0

-6 -6

-4

-2

d x , d y , d )

(a)

are kno2n and 2$en t$ey are unkno2n (different from %redicti&e &alues)+ -rackin tra'ectorys is circle 2it$ center (0,0) and radius is 6+ Initial coordinate of robot is (1,1) , an le bet2een t$e robot4s a3is and /3 ( ) eGual JeroB x(0) = 1K y (0) = 1K q(0) = 0 + -$e %arameters of controller in .G (1:) and (1I) are sim%ly set toB k x = k y = kq = 6 , and g = 0+6K b = 0+6K T = 0+01K t$e ada%tation ains

1 0

g mx = g my = 6K b = 6 are used+ -$e nominal &alues of

uncertain %arameters (m5I5 d x , d y , dq ) are (6, 2+6,6,6,6) Clearly, t$ere is also not difference in Guality bet2een t2o controllers 2$en uncertain %arameters are assumed to be kno2n+ -$is result is s$o2ed by trackin tra'ectory of robot in fi ure H (nominal controller) and fi ure 6 ("*AS controller )
5 4 3 2 1 0 -1 -2 -3 -4 -5 -6 -4 -2 0 2 4 6

(b)
Figure 9 .a/ ,esired and tracking tra7ectory8 . /T0e !inear ve!ocity and t0e angu!ar ve!ocity in a ada*tive contro! system 'it0 t0e nomina! va!ues of uncertain *arameters&

In t$is case,efficiency of t$is controller in t$e %resence of uncertainties is s$o2n in fi ures 9 and :+ In fi ure H and 6, t$e %arameters are set to t$e nominal &alues, t$e error bet2een desired tra'ectory and real tra'ectory is small+ In fi ure 9 t$e nominal %arameters are c$an ed to (mS60KIS26K

d x = d y = d = 10 )+ It4s s$o2n

t$at t$e oscillations of trackin error is considerable and trackin tra'ectory is not a circle+ 8urt$ermore, t$e real &elocities are oscillatory and don4t track to t$e desired &elocities+ In t$is situation, t$e ada%ti&e controller 2orks %erfectly (fi ure :)+ -$ere is no difference bet2een 8i ure :(a) and 8i ure H(a), 8i ure 6(a) + 8i ure ? %resents t$e con&er ence of ada%ti&e control ains+

2013 International Conference on Control, Automation and Information Sciences (ICCAIS)

6

Figure ; .a/ ,esired and tracking tra7ectory8 . /T0e !inear ve!ocity and t0e angu!ar ve!ocity in a ada*tive contro! system 'it0 t0e different va!ues of uncertain *arameters&

0I+ C/=C(USI/= -$e article su ests al orit$m of trackin control t$at not only uarantees t$e trackin of robot to desired tra'ectory Guickly,e3actly but also robot4s mo&ement smoot$ly on bad terrain+ -$e main c$aracteristic of t$e %ro%osed controller is its robustness of %erformance a ainst t$e c$an es in uncertain %arameters of robot and ot$er e3o enous disturbances + -$e analysis and simulation results s$o2 t$at t$e trackin errors con&er e to Jero and kinematic4s c$aracteristics are im%ro&ed Simulations $a&e s$o2n e3actness of t$eory4s analysis and efficiency of met$od+ *.8.*.=C.S
517+ /+T+ Sordalen, /+ . eland+ U.3%onential stabiliJation of non$olonomic c$ained systemsV, I... -ran+ /n Automatic Control, H0, 1, %%+ 36<HI, (1II6)+ #als$, -illbury, Sastry, "urray, (aumond+ UStabiliJation of tra'ectories for systems 2it$ non$olonomic constraintsV, I... -ran+ /n Automatic Control, 3I, %%+ 219<222, (1IIH)+ ,+ Nanayama, ,+ Nimura, 8+ "iyaJaki, -+ =o uc$i+ UA stable trackin control sc$eme for an autonomous mobile robotV, %roc+ of I... Int+ Conf+ on *obotics and Automation, %%+ 3?H<3?I, (1II0)+ *+ 8ierro, (+ (e2is+ UControl of a non$olonomic mobile robotB backste%%in kinematics into dynamicsV, %roc+ of t$e 3Ht$ I... Conf+ on Decision W Control, =e2 /rleans, %%+ 3?06<3?10, (1II6)+ X+>+ Tian , 1+ =i'mei'er+ U-rackin control of mobile robotsB A case study in Fackste%%in V, Automatica, 33, :, %%+ 13I3<13II, (1II:)+ A+"+ Floc$, "+ *ey$ano lu, 1+ "cClamorc$+ UControl and stabiliJation of non$olonomic dynamic systemsV, I... -ran+ /n Automatic Control, 3:, 11, %%+ 1:H9<1:6:, (1II2)+ *+ 8ierro, 8+ (+ (e2is, Control of non$olonomic mobile robot usin neural net2orks, I... -r ansactions on =eural =et2orks, 0ol+ I, =o+ H, 6?I<900, 1II? #+ Don , #+(+ Eu+ UAda%ti&e trackin control of uncertain non$olonomic dynamic systemV, I... -ran+ /n Automatic Control, H9, 3, %%+ H60<H6H (2001)+ 1+A+ -anner, N+T+ Nyriako%oulos+ UDiscontinuous backste%%in for stabiliJation of non$olonomic mobile robotsV, %roc+ of I... Conf+ on *obotics and Automation, #as$in ton DC, %%+ 3IH?<3I63, (2002)+ A+ A$oli%our, S+"+ De$ $an, "+ =ili A$madabadi+ U(ya%uno& based trackin control of non$olonomic mobile robotV, %roc+ of 10t$ Iranian conference on electrical en ineerin , -abriJ, Iran, 3, %%+ 292< 29I, (2002) -akanori 8ukao, 1iros$i =aka a2a, and =ori$iko Adac$i, Ada%ti&e -rackin Control of a =on$olonomic "obile *obot, I... -ransactions on *obotics And Automation, 0ol+ 19, =o 6, /ctober 2000+ Ali A$oli%our, "+T+,aJdan%ana$, UDynamic trackin control of non$olonomic mobile robot 2it$ model reference ada%tion for uncertain %arametersV, 2006+ *aJ&an Solea, Adrian 8ili%escu and Urbano =unes, Slidin <"ode Control for -ra'ectory<-rackin of a #$eeled "obile *obot in >resence of Uncertainties, Asian Control Conference, 200I+ ASCC 200I+ :t$ ,in <C$ie$ ,e$, -Juu<1sen S+ (i, and C$i$<,an C$en, Ada%ti&e 8uJJy Slidin <"ode Control of Dynamic "odel Fased Car<(ike "obile *obot, International Tournal of 8uJJy Systems, 0ol+ 11, =o+ H, December 200I

-2

-4

-6 -6

-4

-2

(a)
35 30 25 20 15 10 5 0 -5 -10 -15 0 2 4 6 8 10

527+

537+

5H7+

(b)
Figure : .a/ ,esired and tracking tra7ectory8 . /T0e !inear ve!ocity and t0e angu!ar ve!ocity in a sim*!e contro! system 'it0 t0e different va!ues of uncertain *arameters&
5 4 3 2 1 0 -1 -2 -3 -4 -5 -6 -4 -2 0 2 4 6

567+ 597+

5:7+

5?7+

5I7+

5107+

(a)
70 60 50 40 30 20 10 0 -1 0 0

5117+

5127+

5137+

51H7+
2 4 6 8 1 0

(b)

2013 International Conference on Control, Automation and Information Sciences (ICCAIS)

5167+ 1asan "e$r'erdi, "aarouf Saad, Dynamic trackin control of mobile robot usin e3%onential slidin mode, I.C/= 2010 < 39t$, 2010+ 5197+ "+ 1+ AmooJ ar, ,+ "+ X$an , -ra'ectory -rackin of #$eeled "obile *obotsB A Ninematical A%%roac$, "ec$atronics and .mbedded Systems and A%%lications (".SA), 2012 I...!AS". International Conference, 2012+ 51:7+ -airen Sun, Cai$on X$an , 1ailon >eiK (ya%uno&<based .n&ironmental Foundary -rackin Control of "obile *obots, =et2orkin , Sensin and Control (IC=SC), 2012 It$ I... International Conference on, 11<1H A%ril 2012+ 51?7+ San <'oo Nim, Tin<2oo >ark, and Tan <"yun (eeB Im%lementation of -rackin and Ca%turin a "o&in /b'ect usin a "obile *obot, International Tournal of Control, Automation, and Systems, &ol+ 3, 2006 =+"+-iYn, >+E+"in$, 1+N+Duyen, >+=+"in$B ZSome of ne2 researc$ results in t$e De&erlo%ment of "obile *obot mounted Camera automatically Seac$in and -rackin "o&in -ar etVK -$e 9nd 0iet=am Conference on "ec$atronics 0C" 2012, 12!2012