Robust Trajectory Tracking Control of Wheeled Mobile Robots Using Velocity Estimator
نویسندگان
چکیده
منابع مشابه
Trajectory Tracking of Two-Wheeled Mobile Robots, Using LQR Optimal Control Method, Based On Computational Model of KHEPERA IV
This paper presents a model-based control design for trajectory tracking of two-wheeled mobile robots based on Linear Quadratic Regulator (LQR) optimal control. The model proposed in this article has been implemented on a computational model which is obtained from kinematic and dynamic relations of KHEPERA IV. The purpose of control is to track a predefined reference trajectory with the best po...
متن کاملA novel trajectory-tracking control law for wheeled mobile robots
In this paper a novel kinematic model is proposed where the transformation between the robot posture and the system state is bijective. A nonlinear control law is constructed in the Lyapunov stability analysis framework. This control law achieves a global asymptotic stability of the system based on the usual requirements for reference velocities. The control law is extensively analysed and comp...
متن کاملDelay Compensation on Fuzzy Trajectory Tracking Control of Omni-Directional Mobile Robots
This paper presents a delay compensator fuzzy control for trajectory tracking of omni-directional mobile robots. Fuzzy logic control (FLC) of the robots is a suitable strategy for dealing with model uncertainties, nonlinearities and disturbances. On the other hand, in many robotic applications such as mobile robots, delay phenomenon is able to substantially deteriorate the behavior of system's...
متن کاملWheeled Mobile Robot Trajectory Tracking using Sliding Mode Control
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 کاملNon-Singular Terminal Sliding Mode Control of a Nonholonomic Wheeled Mobile Robots Using Fuzzy Based Tyre Force Estimator
This paper, proposes a methodology to implement a suitable nonsingular terminal sliding mode controller associated with the output feedback control to achieve a successful trajectory tracking of a non-holonomic wheeled mobile robot in presence of longitudinal and lateral slip accompanied. This implementation offers a relatively faster and high precision tracking performance. We investigate this...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 2004
ISSN: 0453-4654
DOI: 10.9746/sicetr1965.40.474