Adaptive linearizing control of mobile robots

摘要

Controllers for mobile robots are often designed by taking into account only the kinematics of the robot. The difficulties associated with the dynamic effects such as mass and inertia moments arise from the nonlinearities of the robot model and from the uncertain about these parameters. This paper proposes a controller based on the certainty equivalence principle that considers the dynamic effects on the robot. The proposed controller deals with the nonlinearities by means of feedback linearization, while the unknown parameters are estimated by a modified least squares algorithm. Simulated and experimental results are presented.