A Globally Convergent Adaptive Velocity Observer for Nonholonomic Mobile Robots Affected by Unknown Disturbances
Jose Guadalupe Romero, David Navarro-Alarcón, Emmanuel Nuño, Haoyi Que
Abstract
In this letter, we present a novel adaptive observer for nonholonomic differential-drive robots to simultaneously estimate the system’s angular and linear velocities, along with its external matched disturbances. The proposed method is based on the immersion and invariance technique and makes use of a dynamic scaling factor. The stability and convergence proof of the velocity and disturbance errors are performed using a strict Lyapunov function. We present a detailed simulation study to validate the performance of our approach.
Topics & Concepts
Nonholonomic systemControl theory (sociology)Mobile robotObserver (physics)Computer scienceRobotMathematicsArtificial intelligencePhysicsControl (management)Quantum mechanicsControl and Dynamics of Mobile RobotsRobotic Path Planning AlgorithmsRobotic Locomotion and Control