Trajectory Tracking Control for Non-holonomic Dynamic Systems with Uncertainty
نویسندگان
چکیده
منابع مشابه
Design of Fractional-Order Controller for Trajectory Tracking Control of a Non-holonomic Autonomous Ground Vehicle
Arobust control technique is proposed to address the problem of trajectory tracking of an autonomous ground vehicle (AGV). This technique utilizes a fractional-order proportional integral derivative (FOPID) controller to control a non-holonomic autonomous ground vehicle to track the behaviour of the predefined reference path. Two FOPID controllers are designed to control the AGV’s inputs. These...
متن کاملSliding Mode Control for Trajectory Tracking of a Non-holonomic Mobile Robot using Adaptive Neural Networks
In this work a sliding mode control method for a nonholonomic mobile robot using adaptive neural network is proposed. Due to this property and restricted mobility, the trajectory tracking of this system has been one of the research topics for the last ten years. The proposed control structure combines a feedback linearization model, based on a kinematics nominal model, and a practical design th...
متن کاملTrajectory Tracking Controls for Non-holonomic Systems Using Dynamic Feedback Linearization Based on Piecewise Multi-Linear Models
This paper proposes a trajectory tracking control for non-holonomic systems using dynamic feedback linearization based on piecewise multi-linear (PML) models. The approximated model is fully parametric. Input-output (I/O) dynamic feedback linearization is applied to stabilize PML control system. Although the controller is simpler than the conventional I/O feedback linearization controller, the ...
متن کاملTrajectory tracking of under-actuated nonlinear dynamic robots: Adaptive fuzzy hierarchical terminal sliding-mode control
In recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. Hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...
متن کاملDynamic Object Tracking Control for a Non-Holonomic Wheeled Autonomous Robot
This paper is devoted to design and implement a non-holonomic wheeled mobile robot that possesses dynamic object-tracking capability by using real-time image processing. Two motion control laws are proposed using Lyapunov’s direct method and computed-torque method. Simulation results illustrate the effectiveness of the developed schemes. The overall experimental setup of the mobile robot develo...
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: 2001
ISSN: 0453-4654
DOI: 10.9746/sicetr1965.37.763