Adaptive perturbation rejection control and driving voltage circuit designs of wheeled mobile robots

This paper addresses the robust trajectory tracking control problem for a class of wheeled robotic systems with perturbations caused by measurement errors, internal uncertainties, and exogenous disturbances. An adaptive technique is utilized to estimate the effects of perturbations. Then, on the basis of the adaptive estimations, perturbation rejection control schemes are developed to construct the kinematic control and dynamic control strategies. By utilizing Lyapunov stability theory, bounded tracking of the desired trajectory and asymptotic tracking of auxiliary azimuthal angular velocity and forward speed of the robot can be achieved respectively in the fact of perturbations. Furthermore, the adaptive perturbation rejection control (APRC) strategies are implemented physically by analog circuits to generate driving voltages of DC motors in the robot reality. The efficiency of the proposed trajectory tracking control method is validated by a robotic system.