A dynamic model and tracking controller for unicycle-like mobile robots

FELIPE NASCIMENTO MARTINS; RICARDO CARELLI; MARIO SARCINELLI; TEODIANO FREIRE BASTOS

Juiz de Fora, Minas Gerais, Brasil

Congreso; XVII Congresso Brasileiro de Automatica, CBA; 2008

Asociación Brasilera de Control Automático

This paper presents the development of an adaptive dynamic controller based on a new dynamic model for unicycle-like mobile robots. The new dynamic model has linear and angular velocities as inputs, which is usual in commercial mobile robots, but not in the literature. Its properties are summarized, and some of those (like the skew symmetry of the matrix C(v)) are considered in the design of the controller and in the stability analysis of the whole closed-loop system. A -modification term is used in the parameter-updating law to prevent possible parameter drift. Experimental results are also presented, which show that the proposed controller has a good performance. C(v)) are considered in the design of the controller and in the stability analysis of the whole closed-loop system. A -modification term is used in the parameter-updating law to prevent possible parameter drift. Experimental results are also presented, which show that the proposed controller has a good performance. C(v)) are considered in the design of the controller and in the stability analysis of the whole closed-loop system. A -modification term is used in the parameter-updating law to prevent possible parameter drift. Experimental results are also presented, which show that the proposed controller has a good performance.