Observer-based proportional integral derivative control for trajectory tracking of wheeled mobile robots with kinematic disturbances
作者：
Highlights：
• A novel observer-based PID controller for trajectory tracking of wheeled mobile robots is presented.
• The kinematic model of the vehicle is transformed into a set of decoupled systems, simplifying the control design stage.
• The kinematic disturbances affecting the system are compensated through the use of an observer.
• A proportional integral derivative controller achieves asymptotic stability of the closed loop system.
• A rigorous Lyapunov-based stability analysis demonstrates the validity of the novel controller.
• Numerical simulations show that the new controller outperforms a feedback controller and a finite-time controller.
摘要
•A novel observer-based PID controller for trajectory tracking of wheeled mobile robots is presented.•The kinematic model of the vehicle is transformed into a set of decoupled systems, simplifying the control design stage.•The kinematic disturbances affecting the system are compensated through the use of an observer.•A proportional integral derivative controller achieves asymptotic stability of the closed loop system.•A rigorous Lyapunov-based stability analysis demonstrates the validity of the novel controller.•Numerical simulations show that the new controller outperforms a feedback controller and a finite-time controller.
论文关键词：Wheeled mobile robot,Proportional integral derivative control,Kinematic disturbances,Trajectory tracking,Observer-based control,Finite-time control
论文评审过程：Received 1 March 2022, Revised 18 May 2022, Accepted 29 June 2022, Available online 10 July 2022, Version of Record 10 July 2022.
论文官网地址：https://doi.org/10.1016/j.amc.2022.127372
