Quantized-states-based adaptive control against unknown slippage effects of uncertain mobile robots with input and state quantization |
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| Institution: | 1. The Institute of Complexity Science, Qingdao University, Qingdao 266071, China;2. College of Mathematics and Systems Science, Shandong University of Science and Technology, China;1. Department of Electronics, Jijel University, Ouled Aissa, Jijel 18000, Algeria;2. Laboratoire de Modélisation, Information et Systèmes, MIS(E.A 4290), University of Picardie Jules Verne, 33 rue Saint-Leu, 80039, Amiens, France;1. State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, 310027 Hangzhou, PR China;2. School of Electrical and Electronic Engineering, Nanyang Technological University, Nanyang Avenue, Singapore 639798, Singapore;3. Zhejiang University of Water Resources and Electric Power, 310027 Hangzhou, PR China;1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China;2. College of Electrical Engineering, Liaoning University of Technology, Jinzhou, Liaoning 121001, China |
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| Abstract: | An adaptive tracking design strategy based on quantized state feedback is developed for uncertain nonholonomic mobile robots with unknown wheel slippage effects. All state variables and control torques are assumed to be quantized by the state and input quantizers, respectively, in a network control environment. Thus, the quantized state feedback information is only available for the tracking control design. An approximation-based adaptive controller using quantized states is recursively designed to ensure the robust adaptive tracking against unknown wheel slippage effects where the quantized-states-based adaptive mechanism is derived to compensate for unknown wheel slippage effects, system nonlinearities, and quantization errors. The boundedness of the quantization errors and estimated parameters in the closed-loop system is analyzed by presenting some theoretical lemmas. Based on these lemmas, we prove the uniform ultimate boundedness of closed-loop signals and the convergence of the trajectory tracking error in the presence of wheel slippage effects. Simulations verify the effectiveness of the resulting tracking scheme. |
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| Keywords: | State and input quantization Quantized feedback adaptive control Unknown slippage effects Nonholonomic mobile robots |
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