Time-Invariant Stabilization of a Unicycle-Type Mobile Robot: Theory and Experiments
نویسندگان
چکیده
In this paper we develop two time-invariant control laws for a unicycle-type mobile robot. A mobile robot of this type is an example of a system with a nonholonomic constraint. Similarly to the majority of results in the literature thus far, the controllers are based on the robot's kinematic model. They do not directly address realistic factors such as motor dynamics, quantization, sensor noise or delay which may a ect the robot stability and performance. We use a Khepera robot to compare the performance of these controllers in a realistic situation that includes all the previous factors.
منابع مشابه
Experimental Tracking and Stabilization of a Unicycle Mobile Robot
Wheeled mobile robots are increasingly present in industrial and service robotics, requiring adequate solutions for the motion control problem. With reference to the unicycle kinematics, several control strategies for trajectory tracking and posture stabilization are reviewed and compared on simulation and experimental level. Experiments are reported for BellyBot, a two-wheel differentially-dri...
متن کاملStabilization of the Unicycle via Dynamic Feedback Linearization
We consider the feedback control problem for a wheeled mobile robot with the kinematics of a unicycle, a typical example of nonholonomic robotic system. It is shown that dynamic feedback linearization can be used to design a simple control law which is valid for trajectory tracking as well as point stabilization tasks. In particular, for both cases exponential convergence with linear transients...
متن کاملTwo Observer-based Tracking Algorithms for a Unicycle Mobile Robot
A trajectory tracking problem for the three-dimensional kinematic model of a unicycle-type mobile robot is considered. It is assumed that only two of the tracking error coordinates are measurable. By means of cascaded systems theory we develop observers for each of the error coordinates and show the K-exponential convergence of the tracking error in combined closed-loop observer-controller syst...
متن کاملA mixed gH2 /H approach for stabilization and accurate trajectory tracking of unicycle-like vehicles
The control problem of unicycle-like vehicles such as mobile robots is considered. More exactly, we propose the use of a linear parameter varying (LPV) approach to obtain both stabilization of the kinematic model together with high accuracy in trajectory tracking. This objective has been achieved by exploiting the advantages oŒered by linear matrix inequality (LMI) theory and by introducing in ...
متن کاملUnstable behavior of a unicycle mobile robot with tracking control
This report considers the unstable behavior which occurs when an orientation-error observer tracking controller combined with a real-time operator-controlled reference trajectory is implemented on an experimental unicycle-type mobile robot. With help of simulations and experiments it is attempted to determine the cause for this behavior. Furthermore, an alternative combined trackinglstabilizing...
متن کامل