Robust backstepping tracking control of mobile robot based on nonlinear disturbance observer

This paper presents a robust backstepping control (BC) methodbased on nonlinear disturbance observer (NDOB) for trajectory tracking of the nonholonomic wheeled mobile robot (WMR) in the presence of external disturbances and parameters uncertainties. At first, a bounded Fuzzy logic based backstepping...

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Main Authors: Moqbel Obaid, Mahmood Ali, Husain, Abdul Rashid, Al-Kubati, Ali Abdo Mohammed
Format: Article
Published: Institute of Advanced Engineering and Science 2016
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Online Access:http://eprints.utm.my/id/eprint/72704/
https://www.scopus.com/inward/record.uri?eid=2-s2.0-85012054619&doi=10.11591%2fijece.v6i2.9594&partnerID=40&md5=9d094cbd6c46a1b2b0eafb3245306649
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Institution: Universiti Teknologi Malaysia
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spelling my.utm.727042017-11-27T05:05:23Z http://eprints.utm.my/id/eprint/72704/ Robust backstepping tracking control of mobile robot based on nonlinear disturbance observer Moqbel Obaid, Mahmood Ali Husain, Abdul Rashid Al-Kubati, Ali Abdo Mohammed TK Electrical engineering. Electronics Nuclear engineering This paper presents a robust backstepping control (BC) methodbased on nonlinear disturbance observer (NDOB) for trajectory tracking of the nonholonomic wheeled mobile robot (WMR) in the presence of external disturbances and parameters uncertainties. At first, a bounded Fuzzy logic based backstepping controller (BFLBC) is designed to control the WMR without considering the effects of the external disturbances and the parameters uncertainties. Typically, the conventional BC controller depends upon the state tracking errors analysis, where unbounded velocity signal is produced for the applications that have huge tracking errors. Therefore, a fuzzy logic controller (FLC) is introduced in this research in order to normalize the state tracking errors, so that the input errors to the BC are bounded to a finite interval. Finally, the designed BFLBC is integrated with the nonlinear disturbance observer in order to attenuate the external disturbances and model uncertainties. The simulation results show the effectiveness of the proposed controller to generate a bounded velocity signal as well as to stabilize the tracking errors to zero. In addition, the results prove that the proposed controller provide an excellent disturbance attenuation as well as robustness against the parameters uncertainties. Institute of Advanced Engineering and Science 2016 Article PeerReviewed Moqbel Obaid, Mahmood Ali and Husain, Abdul Rashid and Al-Kubati, Ali Abdo Mohammed (2016) Robust backstepping tracking control of mobile robot based on nonlinear disturbance observer. International Journal of Electrical and Computer Engineering, 6 (2). pp. 901-908. ISSN 2088-8708 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85012054619&doi=10.11591%2fijece.v6i2.9594&partnerID=40&md5=9d094cbd6c46a1b2b0eafb3245306649
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Moqbel Obaid, Mahmood Ali
Husain, Abdul Rashid
Al-Kubati, Ali Abdo Mohammed
Robust backstepping tracking control of mobile robot based on nonlinear disturbance observer
description This paper presents a robust backstepping control (BC) methodbased on nonlinear disturbance observer (NDOB) for trajectory tracking of the nonholonomic wheeled mobile robot (WMR) in the presence of external disturbances and parameters uncertainties. At first, a bounded Fuzzy logic based backstepping controller (BFLBC) is designed to control the WMR without considering the effects of the external disturbances and the parameters uncertainties. Typically, the conventional BC controller depends upon the state tracking errors analysis, where unbounded velocity signal is produced for the applications that have huge tracking errors. Therefore, a fuzzy logic controller (FLC) is introduced in this research in order to normalize the state tracking errors, so that the input errors to the BC are bounded to a finite interval. Finally, the designed BFLBC is integrated with the nonlinear disturbance observer in order to attenuate the external disturbances and model uncertainties. The simulation results show the effectiveness of the proposed controller to generate a bounded velocity signal as well as to stabilize the tracking errors to zero. In addition, the results prove that the proposed controller provide an excellent disturbance attenuation as well as robustness against the parameters uncertainties.
format Article
author Moqbel Obaid, Mahmood Ali
Husain, Abdul Rashid
Al-Kubati, Ali Abdo Mohammed
author_facet Moqbel Obaid, Mahmood Ali
Husain, Abdul Rashid
Al-Kubati, Ali Abdo Mohammed
author_sort Moqbel Obaid, Mahmood Ali
title Robust backstepping tracking control of mobile robot based on nonlinear disturbance observer
title_short Robust backstepping tracking control of mobile robot based on nonlinear disturbance observer
title_full Robust backstepping tracking control of mobile robot based on nonlinear disturbance observer
title_fullStr Robust backstepping tracking control of mobile robot based on nonlinear disturbance observer
title_full_unstemmed Robust backstepping tracking control of mobile robot based on nonlinear disturbance observer
title_sort robust backstepping tracking control of mobile robot based on nonlinear disturbance observer
publisher Institute of Advanced Engineering and Science
publishDate 2016
url http://eprints.utm.my/id/eprint/72704/
https://www.scopus.com/inward/record.uri?eid=2-s2.0-85012054619&doi=10.11591%2fijece.v6i2.9594&partnerID=40&md5=9d094cbd6c46a1b2b0eafb3245306649
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