کنفرانس مهندسی برق ایران

صفحه اصلی / سی و دومین کنفرانس بین المللی مهندسی برق

Control of a Wheeled Robot in the Presence of Wheels Sliding Using Robust Adaptive Control in Differential Game Format

نویسندگان :

Alireza Azimi¹ Roya Amjadifard² Aliakbar Ghasemzadeh³

1- Kharazmi University 2- Kharazmi University 3- Kharazmi University

کلمات کلیدی :

wheeled mobile robot،approximate dynamic programing،H∞ Control،two-player zero-sum game

چکیده :

Abstract—A wheeled mobile robot (WMR) is a nonlinear nonholonomic system with many applications in industry. However, uncertainties such as wheel slippage can degrade its tracking performance. This paper proposes a H∞ robust adaptive kinematic controller to improve the tracking of desired trajectories in the presence of wheel slippage disturbances. A differential game formulation is developed between the controller and the slippage disturbance. The controller approximates the solution to the associated Hamilton–Jacobi–Isaacs (HJI) equation online using a critic neural network and iterative least squares tuning. This provides adaptive estimates of the optimal control and disturbance signals. The controller is then simulated on a WMR model incorporating longitudinal and lateral wheel slippages. Tracking performance is evaluated for challenging curved trajectories like rotated-8 and butterfly shapes under slippage to test the system's robustness. The results illustrate the accuracy and responsiveness of the control approach in minimizing slippage effects and tracking errors for the nonlinear kinematic system.