Optimal Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PID Controller
نویسندگان
چکیده
منابع مشابه
Robust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
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Corresponding Author: Azza El-Sayed Bayoumi Ibrahim Department of Computers and Systems, Electronics Research Institute, Giza, Egypt Email: [email protected] Abstract: This paper introduces and discusses a control strategy for nonholonomic wheeled mobile robots. The models of the robots include the kinematic and dynamic equations of motion. Trajectory tracking control problem of parallel wheeled ...
متن کاملrobust sliding mode controller for trajectory tracking and attitude control of a nonholonomic spherical mobile robot
based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...
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The problem associated with trajectory generation for a car-like robot (CLR) moving from an initial configuration to any final configuration is studied in this paper. The aim of our research is to achieve energy-optimal solution to the problem of trajectory generation. Based on bang-bang control theory, the necessary condition for energy-optimal trajectory generation is studied. Based on steeri...
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ژورنال
عنوان ژورنال: Journal of University of Babylon for Engineering Sciences
سال: 2018
ISSN: 2616-9916,2616-9916
DOI: 10.29196/jubes.v26i4.1087