Controle adaptativo auto-ajustável para controle de seguimento de trajetórias de um robô móvel

Abstract

This work presents an application of an adaptive control strategy for reference trajectory tracking of a mobile robot with non-holonomic constraints. The controller consists of two cascade control loops, whose first loop is responsible for the wheeled motor speed control, and the second is responsible for a non-linear control action that allows reference trajectory tracking. In order to maintain performance specifications when the robot is subjected to internal disturbances or model uncertainty, an auto-tuning non-linear adaptive controller is proposed. It also allows the robot to adjust to different types of reference trajectory. Results of both computational simulations and experimental tests in a real mobile robot show the advantages and disadvantages of the proposed adaptive controller.