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
Design of an adaptive neural predictive nonlinear controller for nonholonomic mobile robot system based on posture identifier in the presence of disturbance
TL;DR: Simulation results show the effectiveness of the proposed adaptive neural predictive control algorithm; this is demonstrated by the minimised tracking error and the smoothness of the torque control signal obtained with bounded external disturbances.
Proceedings ArticleDOI
Fuzzy logic & fuzzy sliding mode tracking control of non-holonomic unicycle wheeled mobile robots
TL;DR: The superiority of FSMDC to SMDC and FLDC is illustrated in a simulation study and the weak performance of this method in the presence of exogenous signals and its strong dependence on the IF-THEN rules motivates its replacement with a fuzzy sliding mode dynamic controller.
Proceedings ArticleDOI
The design of internal type-2 fuzzy kinematic control and interval type-2 fuzzy terminal sliding-mode dynamic control of the wheeled mobile robot
TL;DR: In this paper, a combined intelligent technique is introduced for the trajectory tracking control of a nonholonomic wheeled mobile robot (WMR), which comprises an interval type-2 fuzzy kinematic control (IT2-FKC) and an interval kind-of fuzzy terminal sliding-mode dynamic control ( IT2-FTSMDC).
Proceedings ArticleDOI
Adaptive control of nonholonomic wheeled mobile robot
TL;DR: In this article, the forces in the system arising from the interaction between a deformable wheel and rigid terrain are calculated using Ansys14.0 and a Matlab-Simulink program is used to simulate the designed system and the results are graphically plotted.
Proceedings ArticleDOI
Novel method of trajectory tracking and posture stabilization for mobile robot
Wanli Liu,Zhankui Wang,Hua Zhu +2 more
TL;DR: The results show that the control algorithm has the capability of simultaneous trajectory tracking and stabilization and it can predict future system behavior and penalize the system tracking error and the control effort.
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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Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots
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