Unscented Kalman Filter-based adaptive tracking control for wheeled mobile robots in the presence of wheel slipping

2016 ◽  
Author(s):  
Mingyue Cui ◽  
Wei Liu ◽  
Hongzhao Liu ◽  
Xiaodong Lu
Keyword(s):  
Kalman Filter ◽  
Mobile Robots ◽  
Tracking Control ◽  
Unscented Kalman Filter ◽  
Wheeled Mobile Robots ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking

Adaptive tracking control of wheeled mobile robots with unknown longitudinal and lateral slipping parameters

2014 ◽  
Vol 78 (3) ◽  
pp. 1811-1826 ◽  
Author(s):  
Mingyue Cui ◽  
Rongjie Huang ◽  
Hongzhao Liu ◽  
Xuyan Liu ◽  
Dihua Sun
Keyword(s):  
Mobile Robots ◽  
Tracking Control ◽  
Wheeled Mobile Robots ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking

Adaptive Tracking Control of Wheeled Mobile Robots

2011 ◽  
Vol 55-57 ◽  
pp. 1195-1199 ◽  
Author(s):  
Min Zuo ◽  
Guang Ping Zeng ◽  
Xu Yan Tu
Keyword(s):  
Mobile Robots ◽  
Tracking Control ◽  
Control Input ◽  
Tracking Problem ◽  
Wheeled Mobile Robots ◽  
Adaptive Tracking Control ◽  
Control Scheme ◽  
Velocity Increments ◽  
Simulation Results ◽  
Adaptive Control Scheme

Trajectory-tracking problem of wheeled mobile robots is investigated. Adaptive control scheme utilized has only one control signal. The control input gives out the velocity increments which will be utilized to adjust the pose of WMR so as to track the desired trajectories. The controller adopted is simple to realize and easy to tune the parameters, which is benefit to real applications. Numerical simulation results show that the control scheme is valid.

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