Output-Based Tracking Control for a Class of Car-Like Mobile Robot Subject to Slipping and Skidding Using Event-Triggered Mechanism

被引：2
作者：
Wang, Changshun [1 ,2 ]
Wang, Dan [2 ]
Pan, Weigang [1 ]
Zhang, Huang [1 ]
机构：
[1] Shandong Jiaotong Univ, Sch Informat Sci & Elect Engn, Jinan 250357, Peoples R China
[2] Dalian Maritime Univ, Sch Marine Elect Engn, Dalian 116026, Peoples R China
来源：
ELECTRONICS | 2021年 / 10卷 / 23期
基金：
中国国家自然科学基金;
关键词：
car-like mobile robot; slipping and skidding; output-based tracking control; unknown disturbances; VEHICLES;
D O I：
10.3390/electronics10232886
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents an output-based tracking controller for a class of car-like mobile robot (CLMR) subject to slipping and skidding. The slipping and skidding are regarded as external disturbances, and an event-triggered extended state observer (ET-ESO) is utilized to recover the velocities as well as to estimate the uncertainties and disturbances. The constrained longitudinal velocity is established, conforming to the traffic flow theory on the kinematic level. The velocity control law and heading angle control law are developed on the dynamic level, respectively. The input to state stability (ISS) of the closed-loop system is analyzed via cascade theory. Simulation results are given to demonstrate the effectiveness of the proposed tracking controller for CLMR subject to slipping and skidding.
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页数：15
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