Simultaneous Tracking and Stabilization of Nonholonomic Wheeled Mobile Robots under Constrained Velocity and Torque

Yuan Li, Yuyang Cai, Yong Wang, Wei Li () and Gang Wang
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Yuan Li: School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
Yuyang Cai: School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
Yong Wang: School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
Wei Li: School of Finance, Shanghai Lixin University of Accounting and Finance, Shanghai 201209, China
Gang Wang: School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China

Mathematics, 2024, vol. 12, issue 13, 1-17

Abstract: Currently, most assumptions in nonholonomic mobile robot controllers indicate that the robot velocity can become significantly large and that the robot actuators are able to generate the necessary level of torque input. Based on the sliding mode control theory, this paper develops a new framework to handle the control problem of a wheeled robot dynamics model with constrained velocity and torque. Through rigorous theoretical analysis and extensive simulations, we demonstrate that the proposed controller guarantees asymptotic convergence of tracking or stabilization errors and boundedness of closed-loop signals. The advantages of the developed controller include the ability to simultaneously achieve tracking and stabilization control of nonholonomic mobile robots and the ability to ensure that the prescribed velocity and torque constraints are not breached by simply tuning the design parameters a priori, even in the presence of uncertain disturbances.

Keywords: sliding mode control; adaptive control; trajectory tracking; Lyapunov design; mobile robot (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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