Logic-based switching control of a nonholonomic system with parametric modeling uncertainty
نویسندگان
چکیده
This paper is concerned with control of nonholonomic systems in the presence of parametric modeling uncertainty. The specific problem considered is that of parking a wheeled mobile robot of unicycle type with unknown parameters, whose kinematics can be described by Brockett’s nonholonomic integrator after an appropriate state and control coordinate transformation. We employ the techniques of supervisory control to design a hybrid feedback control law that solves this problem.
منابع مشابه
Designing and Modeling a Control System for Aircraft in the Presence of Wind Disturbance (TECHNICAL NOTE)
This paper proposes a switching adaptive control for trajectory tracking of unmanned aircraft systems. The switching adaptive control method is designed to overcome the wind disturbance and achieve a proper tracking performance for control systems. In the suggested system, the wind disturbance is regarded as a finite set of uncertainties; a controller is designed for each uncertainty, and a per...
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...
متن کاملNonregular feedback linearization: a nonsmooth approach
solvable by means of a simple hybrid control law, i.e., it is possible to achieve global exponential stability of the zero equilibrium in the presence of (small) perturbations vanishing at the origin. The control law retains the basic properties of the discontinuous control laws proposed in [1], namely exponential convergence rate and lack of oscillatory behavior. The results presented in this ...
متن کاملRegulation of a Nonholonomic Autonomous Underwater Vehicle with Parametric Modeling Uncertainty using Lyapunov Functions
This paper addresses the problem of regulating the dynamic model of a nonholonomic underactuated autonomous underwater vehicle (AUV) to a point with a desired orientation. A time-invariant discontinuous controller is proposed that yields convergence of the trajectories of the closed-loop system in the presence of parametric modeling uncertainty. Controller design relies on a non smooth coordina...
متن کاملDynamical formation control of wheeled mobile robots based on fuzzy logic
In this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. To this end, the dynamics model of the considered wheeled mobile robot is derived using Lagrange equations of motion. Then, using ADAMS multi-body simulation software, the obtained dynamics of the wheeled system in MATLAB software is verified. After that, ...
متن کامل