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Journal ArticleDOI

Designing approach on trajectory-tracking control of mobile robot

01 Feb 2005-Robotics and Computer-integrated Manufacturing (Pergamon)-Vol. 21, Iss: 1, pp 81-85
TL;DR: Based on differential geometry theory, applying the dynamic extension approach of relative degree, the exact feedback linearization on the kinematic error model of mobile robot is realized in this paper, where trajectory-tracking controllers are designed by pole-assignment approach.
Abstract: Based on differential geometry theory, applying the dynamic extension approach of relative degree, the exact feedback linearization on the kinematic error model of mobile robot is realized. The trajectory-tracking controllers are designed by pole-assignment approach. When angle speed of mobile robot is permanently nonzero, the local asymptotically stable controller is designed. When angle speed of mobile robot is not permanently nonzero, the trajectory-tracking control strategy with globally tracking bound is given. The algorithm is simple and applied easily. Simulation results show their effectiveness.
Citations
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Journal ArticleDOI
TL;DR: An integral predictive and nonlinear robust control strategy to solve the path following problem for a quadrotor helicopter with parametric and structural uncertainties presented to corroborate the effectiveness and the robustness of the proposed strategy.

643 citations


Cites background from "Designing approach on trajectory-tr..."

  • ...Based on this analysis, the path following problem for a uav can be understood as: find the control inputs in a bounded group of possible values that drive the state variables in (35) from an initial position xξ0 to the origin (Sun, 2005), i....

    [...]

Journal ArticleDOI
TL;DR: Practical experiments obtained using an autonomous ldquoMini-Bajardquo vehicle equipped with an embedded computing system confirm that the proposed MPC structure is the solution that better matches the target criteria.
Abstract: This paper presents a model predictive controller (MPC) structure for solving the path-tracking problem of terrestrial autonomous vehicles. To achieve the desired performance during high-speed driving, the controller architecture considers both the kinematic and the dynamic control in a cascade structure. Our study contains a comparative study between two kinematic linear predictive control strategies: The first strategy is based on the successive linearization concept, and the other strategy combines a local reference frame with an approaching path strategy. Our goal is to search for the strategy that best comprises the performance and hardware-cost criteria. For the dynamic controller, a decentralized predictive controller based on a linearized model of the vehicle is used. Practical experiments obtained using an autonomous ldquoMini-Bajardquo vehicle equipped with an embedded computing system are presented. These results confirm that the proposed MPC structure is the solution that better matches the target criteria.

266 citations

Journal ArticleDOI
TL;DR: In this article, an adaptive sliding-mode dynamic controller for wheeled mobile robots is proposed to implement the trajectory tracking mission, and the convergence of the complete equations of motion of the robot is proved by the Lyapunov stability theory.

176 citations

01 Jan 2005
TL;DR: In this article, the authors focus on the application of model-based predictive control (MPC) to the trajectory tracking problem of nonholonomic wheeled mobile robots (WMRs).
Abstract: This work focus on the application of model-based predictive control (MPC) to the trajectory tracking problem of nonholonomic wheeled mobile robots (WMR). The main motivation of the use of MPC in this case relies on its ability in considering, in a straightforward way, control a nd state constraints that naturally arise in practical proble ms. Furthermore, MPC techniques consider an explicit performance criterion to be minimized during the computation of the control law. The trajectory tracking problem is solved using two approaches: (1) nonlinear MPC and (2) linear MPC. Simulation results are provided in order to show the effectiveness of both schemes. Considerations regarding the computational effort of the MPC are developed with the purpose of analyzing the real-time implementation viability of the proposed techniques.

122 citations


Cites background from "Designing approach on trajectory-tr..."

  • ...On the other hand, this limitation can be avoided when the objective is the tracking of a pre-computed trajectory (Kanayama et al., 1990; Pomet et al., 1992; Yang e Kim, 1999; Do et al., 2002; Sun, 2005)....

    [...]

  • ...On the other hand, this limitation can be avoided when the objective is the trac king of a pre-computed trajectory (Kanayama et al., 1990; Pomet et al., 1992; Yang e Kim, 1999; Do et al., 2002; Sun, 2005)....

    [...]

Journal ArticleDOI
TL;DR: The proposed AFSMDC not only eliminates the chattering phenomenon in the sliding-mode control, but also copes with the system uncertainties and external disturbances and the convergence of trajectory-tracking errors is proved by the Lyapunov stability theory.

108 citations

References
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Book
01 Jan 1991
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Abstract: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).

15,545 citations

01 Jan 1983
TL;DR: In this paper, the authors considered the problem of determining when there exists a smooth function u(x) such that x = xo is an equilibrium point which is asymptotically stable.
Abstract: We consider the loca1 behavior of control problems described by (* = dx/dr) i=f(x,u) ; f(x,0)=0 o and more specifically, the question of determining when there exists a smooth function u(x) such that x = xo is an equilibrium point which is asymPtotically stable. Our main results are formulated in Theorems 1 and 2 be1ow. Whereas it night have been suspected that controllability would insure the exlstence of a stabilizing control law, Theorem I uses a degree-theoretic argument to show this is far from being the case. The positive result of Theorem 2 can be thought of as providing an application of high gain feedback in a nonlinear setting. 1. Introduction In this paper we establish general theorems which are strong enough to irnply, among other things, that a) there is a continuous control law (u,v) = (u(xry, z) rv(x,y,z)) which makes the origin asympEoticatly stable for x=u y=v z=xy and that b) there exists no continuous control law (urv) = (u(xryrz), v(x,y,z)) which makes the origin asymptotically stable for 181

2,833 citations

Journal ArticleDOI
TL;DR: Nonholonomic control systems as discussed by the authors provide a good introduction to the subject for nonspecialists in the field, while perhaps providing specialists with a better perspective of the field as a whole.
Abstract: Provides a summary of recent developments in control of nonholonomic systems. The published literature has grown enormously during the last six years, and it is now possible to give a tutorial presentation of many of these developments. The objective of this article is to provide a unified and accessible presentation, placing the various models, problem formulations, approaches, and results into a proper context. It is hoped that this overview will provide a good introduction to the subject for nonspecialists in the field, while perhaps providing specialists with a better perspective of the field as a whole. The paper is organized as follows: introduction to nonholonomic control systems and where they arise in applications, classification of models of nonholonomic control systems, control problem formulations, motion planning results, stabilization results, and current and future research topics.

1,269 citations

Journal ArticleDOI
TL;DR: A tracking control methodology via time-varying state feedback based on the backstepping technique is proposed for both a kinematic and simplified dynamic model of a two-degrees-of-freedom mobile robot.

832 citations

Journal ArticleDOI
TL;DR: The problem of tracking with stability of a reference trajectory is solved by means of linearizing "static" and "dynamic" state feedback laws by giving conditions to avoid possible singularities of the feedback laws.
Abstract: We are concerned in this article with the control of wheeled mobile robots, which constitute a class of nonholonomic mechanical systems. More precisely, we are interested in solving the problem of tracking with stability of a reference trajectory, by means of linearizing ''static'' and ''dynamic'' state feedback laws. We give conditions to avoid possible singularities of the feedback laws.

346 citations