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- Title
Robust Output Feedback Stabilization and Tracking for an Uncertain Nonholonomic Systems with Application to a Mobile Robot.
- Authors
Rabbani, Muhammad Junaid; Memon, Attaullah Y.; Farhan, Muhammad; Larik, Raja Masood; Ashraf, Shahzad; Burhan Khan, Muhammad; Arfeen, Zeeshan Ahmad
- Abstract
This paper presents a novel robust output feedback control that simultaneously performs both stabilization and trajectory tracking for a class of underactuated nonholonomic systems despite model uncertainties, external disturbance, and the absence of velocity measurement. To solve this challenging problem, a generalized normal form has been successfully created by employing an input–output feedback linearization approach and a change in coordinates (diffeomorphism). This research mainly focuses on the stabilization problem of nonholonomic systems that can be transformed to a normal form and pose several challenges, including (i) a nontriangular normal form, (ii) the internal dynamics of the system are non-affine in control, and (iii) the zero dynamics of the system are not in minimum phase. The proposed scheme utilizes combined backstepping and sliding mode control (SMC) techniques. Furthermore, the full-order high gain observer (HGO) has been developed to estimate the derivative of output functions and internal dynamics. Then, full-order HGO and the backstepping SMC have been integrated to synthesize a robust output feedback controller. A differential-drive type (2,0) the wheeled mobile robot has been considered as an example to support the theoretical results. The simulation results demonstrate that the backstepping SMC exhibits robustness against bounded uncertainties.
- Subjects
MOBILE robots; NONHOLONOMIC dynamical systems; UNCERTAIN systems; SLIDING mode control; BACKSTEPPING control method; MOBILE apps
- Publication
Sensors (14248220), 2024, Vol 24, Issue 11, p3616
- ISSN
1424-8220
- Publication type
Article
- DOI
10.3390/s24113616