Journal of Jilin University(Engineering and Technology Edition) ›› 2018, Vol. 48 ›› Issue (6): 1811-1819.doi: 10.13229/j.cnki.jdxbgxb20170628

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Nonlinear controller design of wheeled mobile robot with H∞ performance

GU Wan-li1,2(),WANG Ping1,2(),HU Yun-feng1,2,CAI Shuo2,CHEN Hong1,2   

  1. 1. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022,China
    2. College of Communication Engineering, Jilin University, Changchun 130022,China
  • Received:2017-06-15 Online:2018-11-20 Published:2018-12-11

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Abstract:

This paper proposes an adaptive Backstepping control method with H∞ tracking performance for mobile robots, which considers the uncertainty of parameter and disturbance in the dynamics equation of mobile robot. Firstly, the trajectory tracking controller with asymptotic stability is designed based on the kinematic model with the linear velocity and angular velocity as the virtual control input. Secondly, in order to deal with the parameter uncertainty in the dynamics system, an adaptive method is used to estimate the parameter online. The method ensures the boundedness of the estimated parameters by introducing the discontinuous mapping. Finally, the dynamics controller is designed by Backstepping method, meanwhile, the same time, the H∞ performance of the proposed controller against disturbance is proved in the Lyapunov framework. The simulation results show that the controller can control the mobile robot tracking the reference trajectory even if the system parameters are unknown. For the bounded external disturbance, the controller can control the output deviation of the system within the bounded range. It is proved that the proposed method can suppress the influence of the system parameters and the disturbance on the control deviation in the presence of unknown parameters and disturbance in the system.

Key words: automatic control technology, mobile robots, H∞ performance, adaptive control, backstepping, trajectory tracking control

CLC Number: 

  • TP273

Fig.1

Model diagram of wheeled mobile robot"

Fig.2

Control performances for sinusoidal trajectory"

Fig.3

Trajectory tracking deviation"

Fig.4

Comparison of control input"

Fig.5

Estimation of unknown parameters"

Fig.6

Estimation errer of unknown parameters"

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