Low-Complexity Tracking Control for Differential-Drive Mobile Robots With Current Sensorless Electric Motors

Le résumé fourni par la source

This article addresses the problem of prescribed performance tracking control for uncertain differential-drive mobile robots equipped with current sensorless electric motors. An improved line-of-sight distance control method with a desired heading angle switching strategy is proposed, which eliminates the singularity problem encountered in previous works when the line-of-sight distance approaches zero. In addition, an open issue of mobile robots control under unavailable motor current (or torque) and completely unknown motor parameters is tackled by combining differential homeomorphism transformations with a low-complexity prescribed performance control approach. Furthermore, the limitations imposed by initial high-order state errors in low-complexity control methods are overcome by introducing a time and space dependent amplifier. The proposed method guarantees the convergence of the position tracking error to the desired precision within the prescribed time, with rigorous proof provided. The effectiveness of the method is demonstrated through simulations and experiment comparisons.

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