Trajectory control for mobile robots in the presence of external disturbances
نویسندگان
چکیده
منابع مشابه
Delay 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 کاملFuzzy Motion Control for Wheeled Mobile Robots in Real-Time
Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...
متن کاملTrajectory 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 کاملControl of Redundant Robots in Presence of External Forces
In the paper we study the influence of generalized external forces, which can act anywhere on the body of the manipulator, on the behavior of the manipulator. These forces are considered as disturbances which are not measurable. First we analyze how these forces act in the task space and in the null space, and define the equivalent generalized forces in both subspaces. Next we propose tracking ...
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 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: Izvestiâ vysših učebnyh zavedenij. Priborostroenie
سال: 2017
ISSN: 0021-3454
DOI: 10.17586/0021-3454-2017-60-9-842-849