Disturbance observer-based robust control for trajectory tracking of wheeled mobile robots

摘要

This paper proposes an adaptive controller for the trajectory tracking of a nonholonomic wheeled mobile robot with nonholonomic constraints in the presence of external disturbances and unknown parameters. A new scheme is proposed to design an adaptive virtual velocity controller and torque control law. Meanwhile, a disturbance observer is applied to estimate the lumped disturbance to achieve the feed forward compensation. Simulation results demonstrate the effectiveness of the proposed control scheme. (C) 2016 Elsevier B.V. All rights reserved.