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Tracking Control for Wheeled Mobile Robot Based on Delayed Sensor Measurements.

El-Hadi Guechi¹, Karim Belharet², Sašo Blažič³

¹Laboratoire d'Automatique de Skikda (LAS), Faculté de Technologie, Département de Génie Électrique, Université 20 Août 1955, BP 26, Route El-Hadaeik, Skikda 21000, Algeria.

Sensors (Basel, Switzerland)

|November 30, 2019

Summary

This study introduces a new fuzzy predictor observer for wheeled mobile robots with measurement delays. The observer ensures stability and improves trajectory tracking performance, validated through experiments.

Keywords:

PDC control delayed sensor measurements nonholonomic mobile robot predictor observer trajectory tracking

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Area of Science:

Robotics
Control Systems
Fuzzy Logic

Background:

Trajectory tracking is crucial for mobile robots.
Measurement delays in robotic systems pose significant control challenges.
Existing predictor observers may not fully address constant delays effectively.

Purpose of the Study:

To propose a novel Takagi-Sugeno fuzzy predictor observer for wheeled mobile robots.
To address the issue of constant and known delays in system measurements.
To enhance the trajectory-tracking capabilities of mobile robots under delayed measurements.

Main Methods:

Development of a Takagi-Sugeno fuzzy predictor observer.
Application of parallel-distributed compensation control for robot manipulation.
Proof of L2-stability for the proposed observer.
Utilizing linear matrix inequalities to determine control and observer gains.

Main Results:

The proposed fuzzy predictor observer effectively handles constant measurement delays.
L2-stability of the observer is rigorously proven.
The observer demonstrates efficient trajectory tracking for the mobile robot.
Experimental validation confirmed the superiority over a conventional predictor observer.

Conclusions:

The novel Takagi-Sugeno fuzzy predictor observer offers a robust solution for delayed robotic systems.
The method enhances trajectory tracking accuracy and stability.
The use of linear matrix inequalities provides a systematic way to design the controller and observer.