Modeling and hierarchical tracking control of tri-wheeled mobile robots

摘要: After exploring the structure of dynamics derived by using Appell equation, we propose a hierarchical tracking controller for tri-wheeled mobile robot in this paper. With appropriately chosen privileged variables, reduced equations are decoupled from kinematic associated with underlying nonholonomic constraints. This special character system makes it possible to separate design into three levels: motion planning, kinematic, and dynamic. In proposed scheme, fuzzy inference engine level is used update desired trajectory computed motion-planning level. An adaptive sliding-mode then adopted track new reference values variables dynamic level, which subsequently drives nonprivileged variables. Simulation results show effectiveness such tracking-control concurrently takes kinematics consideration. All can be tracked asymptotically their values, assured skew-symmetric property equation