Trajectory Tracking Control Method of Wheeled Mobile Robot with Uncertain Slippage

doi:10.12068/j.issn.1005-3026.2024.06.014

Abstract

Abstract:

Wheeled mobile robots are prone to wheel slippage on soft and complex terrains， which affects trajectory tracking accuracy. To improve the trajectory tracking accuracy of robots under such conditions， an adaptive slip compensation controller （ASCC） based on fault?tolerant control （FTC） is proposed. Firstly， a kinematic model of a four?wheeled mobile robot （4 WMR） is established by considering wheel slippage rates， and the corresponding trajectory tracking error model is constructed. Then， based on the FTC method， a slippage compensation term is designed. The stability of the ASCC is proven using Lyapunov stability theory， achieving accurate compensation for the velocity error caused by wheel slippage. Finally， experiments under two working conditions are conducted on the 4 WMR. The results show that the designed controller enables the mobile robot to track the desired path under unknown wheel slippage rates， and it exhibits stronger robustness and higher tracking accuracy compared to the conventional controllers.

Key words: wheeled mobile robot, soft terrain, wheel slippage, trajectory tracking, fault?tolerant control（FTC）

CLC Number:

TP 242

Hao WU, Zhong-chao LIANG, Wen-cheng WANG, Yong-fu WANG. Trajectory Tracking Control Method of Wheeled Mobile Robot with Uncertain Slippage[J]. Journal of Northeastern University(Natural Science), 2024, 45(6): 858-865.

Figures/Tables 16

Fig. 1 Kinematics model of four?wheeled mobile robot

Fig. 2 Trajectory tracking model

Table 1 Simulink controller parameters

参数	数值	参数	数值	参数	数值
k₁	0.01	p₃	0.1	b	0.3
k₂	0.8	p₄	0.1	r	0.1
k₃	0.01	p₅	0.1	v_r	0.3
p₁	5	λ₁	0.3	ω_r	0.1
p₂	2	λ₄	0.8	—	—

Fig. 3 Comparison of trajectory tracking results

Fig. 4 Comparison of trajectory tracking errors

Fig. 5 Tracking speed and angular velocity

Fig. 6 Four?wheel mobile robot experimental platform

Table 2 Controller parameters

参数	数值	参数	数值	参数	数值
k₁	0.1	p₂	1.2	λ₁	1.85
k₂	0.2	p₃	0.05	λ₄	3.25
k₃	0.1	p₄	0.05	v_r	0.3
p₁	0.02	p₅	0.02	ω_r	0.1

Fig. 7 Comparison of circular trajectory tracking results

Fig. 8 Robot motion photos

Fig. 9 Comparison of circular trajectory tracking errors

Fig. 10 Tracking speed and angular velocity

Fig. 11 Comparison of “8” trajectory tracking results

Fig. 12 Robot motion photos

Fig. 13 Comparison of trajectory tracking errors

Fig. 14 Tracking speed and angular velocity

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