Controlador Dinâmico Adaptativo de Seguimento de Trajetória Para Robôs Móveis

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

Florianópolis, SC, Brasil

Congreso; VIII Simpósio Brasileiro de Automação Inteligente, SBAI; 2007

Sociedad Brasilera de Automática

This paper proposes an adaptive controller to guide a unicycle-like mobile robot during trajectory tracking. First, the desired values for the linear and angular velocities are generated based on the kinematic model of the robot. Such values are then dealt with to compensate the robot dynamics and to generate the robot commands. The parameters representing the robot dynamics are updated on-line, thus providing smaller errors and better performance. Stability proofs for the control system thus designed are presented. Simulation and experimental results are also presented, and show the good performance of the proposed controller for trajectory tracking and robot positioning as well.