Adaptive Tracking Control for Omnidirectional Vehicle Based on Characteristic Modeling
Aiming at the stable and high-precision tracking control of omnidirectional mobile vehicles affected by their own characteristics and external disturbances,an adaptive tracking control approach for omnidirectional vehicles based on characteristic modeling is designed.The characteristic model is established by integrating the model properties into the characteristic parameters,and the characteristic parameters are estimated online by using the projected gradient method.A full coefficient adaptive control law based on the characteristic model is designed,and the stability of the proposed control method is analyzed by using Lyapunov theory.The effectiveness and rationality of the proposed adaptive control scheme are validated through Simulink simulation.Compared with other approaches,the proposed approach achieves higher control accuracy,stronger adaptability,and better robustness.
omnidirectional mobile chassischaracteristic modelingnonlinear golden section adaptive controlparameter identificationtracking control
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