A Globally Convergent Adaptive Velocity Observer for Nonholonomic Mobile Robots Affected by Unknown Disturbances

Jose Guadalupe Romero; David Navarro-Alarcon; Emmanuel Nuno; Haoyi Que

doi:10.1109/LCSYS.2022.3186621

A Globally Convergent Adaptive Velocity Observer for Nonholonomic Mobile Robots Affected by Unknown Disturbances

Jose Guadalupe Romero, David Navarro-Alarcon, Emmanuel Nuno, Haoyi Que

Research output: Journal article publication › Journal article › Academic research › peer-review

10 Citations (Scopus)

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.

Original language	English
Pages (from-to)	85-90
Number of pages	6
Journal	IEEE Control Systems Letters
Volume	7
DOIs	https://doi.org/10.1109/LCSYS.2022.3186621
Publication status	Published - 27 Jun 2022

Keywords

Nonholonomic robots
adaptive control
disturbance rejection
velocity observers

ASJC Scopus subject areas

Control and Systems Engineering
Control and Optimization

More information

10.1109/LCSYS.2022.3186621

Cite this

@article{916e0bda38604fa395a4b43d24078814,

title = "A Globally Convergent Adaptive Velocity Observer for Nonholonomic Mobile Robots Affected by Unknown Disturbances",

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.",

keywords = "Nonholonomic robots, adaptive control, disturbance rejection, velocity observers",

author = "Romero, {Jose Guadalupe} and David Navarro-Alarcon and Emmanuel Nuno and Haoyi Que",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.",

year = "2022",

month = jun,

day = "27",

doi = "10.1109/LCSYS.2022.3186621",

language = "English",

volume = "7",

pages = "85--90",

journal = "IEEE Control Systems Letters",

issn = "2475-1456",

publisher = "IEEE",

}

TY - JOUR

T1 - A Globally Convergent Adaptive Velocity Observer for Nonholonomic Mobile Robots Affected by Unknown Disturbances

AU - Romero, Jose Guadalupe

AU - Navarro-Alarcon, David

AU - Nuno, Emmanuel

AU - Que, Haoyi

PY - 2022/6/27

Y1 - 2022/6/27

N2 - 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.

AB - 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.

KW - Nonholonomic robots

KW - adaptive control

KW - disturbance rejection

KW - velocity observers

UR - http://www.scopus.com/inward/record.url?scp=85133797744&partnerID=8YFLogxK

U2 - 10.1109/LCSYS.2022.3186621

DO - 10.1109/LCSYS.2022.3186621

M3 - Journal article

AN - SCOPUS:85133797744

SN - 2475-1456

VL - 7

SP - 85

EP - 90

JO - IEEE Control Systems Letters

JF - IEEE Control Systems Letters

ER -

A Globally Convergent Adaptive Velocity Observer for Nonholonomic Mobile Robots Affected by Unknown Disturbances

Abstract

Keywords

ASJC Scopus subject areas

More information

Other files and links

Fingerprint

Cite this