Journal ArticleDOI
An adaptive dynamic controller for autonomous mobile robot trajectory tracking
Felipe Nascimento Martins,Wanderley Cardoso Celeste,Ricardo Carelli,Mario Sarcinelli-Filho,Teodiano Bastos-Filho +4 more
TLDR
In this paper, an adaptive controller is proposed to guide an unicycle-like mobile robot during trajectory tracking, where the desired values of the linear and angular velocities are generated, considering only the kinematic model of the robot.About:
This article is published in Control Engineering Practice.The article was published on 2008-11-01. It has received 270 citations till now. The article focuses on the topics: Robot calibration & Mobile robot.read more
Citations
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Journal ArticleDOI
Modelling and Control Strategies in Path Tracking Control for Autonomous Ground Vehicles: A Review of State of the Art and Challenges
TL;DR: Critical review of the basic vehicle model usually used; the control strategies usually employed in path tracking control, and the performance criteria used to evaluate the controller’s performance are provided.
Journal ArticleDOI
Terminal sliding mode control for the trajectory tracking of underactuated Autonomous Underwater Vehicles
TL;DR: In this paper, the authors developed robust control schemes for the lateral motion of underactuated autonomous underwater vehicles (AUVs) using the concepts of terminal sliding mode control, which solved the trajectory tracking problem of AUVs.
Journal ArticleDOI
Research Advances and Challenges of Autonomous and Connected Ground Vehicles
TL;DR: A representative architecture of CAVs is introduced and the latest research advances, methods, and algorithms for sensing, perception, planning, and control of CAV are surveyed and their significant research issues enumerated.
Journal Article
Trajectory tracking sliding mode control of underactuated AUVs
TL;DR: A trajectory tracking control scheme is proposed, designed using the sliding mode control technique in order to be robust against bounded disturbances in underactuated autonomous underwater vehicles.
Journal ArticleDOI
Trajectory tracking sliding mode control of underactuated AUVs
TL;DR: In this paper, a trajectory tracking control scheme is proposed for underactuated autonomous underwater vehicles (AUVs), which is designed using the sliding mode control technique in order to be robust against bounded disturbances.
References
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Book
Adaptive Control: Stability, Convergence and Robustness
S. Shankar Sastry,Marc Bodson +1 more
TL;DR: In this paper, the deterministic theory of adaptive control (AC) is presented in an introduction for graduate students and practicing engineers, with a focus on basic AC approaches, notation and fundamental theorems, identification problem, model-reference AC, parameter convergence using averaging techniques, and robustness.
Proceedings ArticleDOI
A stable tracking control method for an autonomous mobile robot
TL;DR: The control rule and limiting method proposed are robot independent and hence can be applied to various kinds of mobile robots with a dead reckoning ability and was implemented on the autonomous mobile robot Yamabico-11.
Proceedings ArticleDOI
Control of a nonholonomic mobile robot: backstepping kinematics into dynamics
Rafael Fierro,Frank L. Lewis +1 more
TL;DR: A combined kinematic/torque control law is developed using backstepping and asymptotic stability is guaranteed by Lyapunov theory and can be applied to the three basic nonholonomic navigation problems: tracking a reference trajectory, path following and stabilization about a desired posture.
Journal ArticleDOI
Adaptive tracking control of a nonholonomic mobile robot
TL;DR: An adaptive extension of the kinematic controller for the dynamic model of a nonholonomic mobile robot with unknown parameters is proposed, and a torque adaptive controller is derived by using the k cinematic controller.
Journal ArticleDOI
Exponential stabilization of mobile robots with nonholonomic constraints
C.C. de Wit,O.J. Sordalen +1 more
TL;DR: In this paper, an exponentially stable controller for a two-degree-of-freedom robot with nonholonomic constraints is presented, which is shown to be nonstabilizable via pure smooth feedback.
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Control of a nonholonomic mobile robot: backstepping kinematics into dynamics
Rafael Fierro,Frank L. Lewis +1 more