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
Linearization of feedback controller robust to the presence of uncertainties for a wheeled robot with a trailer
TL;DR: In this article , a wheeled mobile robot with differential thrust consists of two independent active wheels and a passive spherical wheel and a controller is designed with adaptive rules to solve the problem of tracking time paths based on input-output control in the presence of uncertainties.
Otomati̇k yönlendi̇rmeli̇ bi̇r aracin gövde hizi ve gövde açisinin bulanik mantik i̇le gerçek zamanli kontrolü real time fuzzy based speed and direction angle control of an automated guided vehicle
Adnan Derdiyok,Emrah Mercan +1 more
TL;DR: Experimental results prove that the fuzzy controller shows better tracking performance than the PI controller in terms of robustness, smoothness and fast dynamics.
Tracking control of a mobile robot based on Taylor Formula
TL;DR: A strategy to calculate the control actions for a mobile robot following a pre established trajectory is proposed, in which the Taylor series development of controlled variables is used and the control action is calculated to make the system follow the reference trajectory.
Control dinámico mediante métodos numéricos para robots móviles tipo uniciclo
TL;DR: In this article, a controlador based on the modelo dinamico of a robot movil tipo uniciclo utilizing metodos numericos is presented, where fuerzas externas and deslizamientos de las ruedas are considered.
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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