An Application of Filtering Techniques For the Tracking Control of Mobile Robots with Slipping
نویسندگان
چکیده
Abstract: This paper presents an application of nonlinear filtering techniques for the tracking control design of tracked mobile robot under slip condition. The slip is represented only by the longitudinal wheels slip that is described by just an unknown parameter. The extended Kalman filter (EKF), the unscented Kalman filter (UKF) and the particle filter (PF) are used to estimate the states of the system, when measurements are assumed all available. Two adaptive tracking control design for tracked mobile robots are proposed. The first controller is based on the kinematic model and provides angular velocities as the control input. The second controller, based on the dynamic model, consists in a feedback control law that provides torque as control input. Numerical results show the performance of the proposed adaptive control laws using the EKF, UKF and the PF filtering techniques.
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