Journal ArticleDOI
Designing approach on trajectory-tracking control of mobile robot
TLDR
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.read more
Citations
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Journal ArticleDOI
Predictive proportional nonlinear control for stable-target tracking of a mobile robot: an experimental study
TL;DR: Two new types of control method based on model predictive control for stable-target tracking of a nonholonomic mobile robot are developed, effective in stable- target tracking, yielding an increase in performance and stability.
Proceedings ArticleDOI
Lawn mower trajectory tracking by wheeled mobile robot: Its consequences
TL;DR: In this article, an ideal lawn mower path (discontinuous in nature), which is a combination of straight lines and circular segments are designed, explained and compared with the continuous mower trajectory, already reported in the literature.
Journal ArticleDOI
Reactive Robot Navigation Utilizing Nonlinear Control
TL;DR: A navigation algorithm for a mobile robot that reaches a measured target position while avoiding obstacles, making decisions in real-time (without stopping) and relying strictly on information obtained from limited and noisy robot-mounted sensors to determine the location and severity of obstacles is proposed.
Proceedings ArticleDOI
Control and simulation of adaptive global trajectory tracking for nonholonomic mobile robots with parameter uncertainties
Peigang Jia,Cheng Song,Xin Zhang +2 more
TL;DR: In this paper, an adaptive trajectory tracking controller with globally asymptotic stability is proposed for a kinematic model with unknown parameters, which is easily proven via the Lyapunov function and Barbalat's lemma.
Biomimetic control methods for nonholonomic mobile robots
TL;DR: This thesis investigates a learning method where the only measurement at time k is available so that it can provide m-step discounted rewards through the predictive model and obtains three techniques of biomimetic approaches for controlling nonholonomic mobile robot.
References
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Book
Applied Nonlinear Control
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).
Asymptotic stability and feedback stabilization
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.
Journal ArticleDOI
Developments in nonholonomic control problems
Ilya Kolmanovsky,N.H. McClamroch +1 more
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.
Journal ArticleDOI
Tracking control of mobile robots: a case study in backstepping
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.
Journal ArticleDOI
Control of nonholonomic wheeled mobile robots by state feedback linearization
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.
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