Path-following control of mobile robots in presence of uncertainties

被引：89

作者：

Coelho, P ^{[1
]}

Nunes, U

机构：

[1] Polytech Inst Tomar, Dept Elect Engn, P-2300 Tomar, Portugal

[2] Univ Coimbra, Inst Syst & Robot, P-3030290 Coimbra, Portugal

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2005年 / 21卷 / 02期

关键词：

mobile robots; motion control; nonholonomic systems; nonlinear systems; path following;

D O I：

10.1109/TRO.2004.837240

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents, in detail, the implementation of a new control strategy, Kalman-based active observer controller (AOB), for the path following of wheeled mobile robots (WMRs) subject to nonholonomic constraints. This control strategy presents some particularities as being used in discrete mode, and being robust against uncertainties and disturbances such as the ones due to the use of the input-output feedback-linearization method in discrete mode, while it was developed to be used in continuous mode. The performance of the. proposed control algorithm is verified via computer simulation, and is compared with other control strategies, such as pole placement controller (PPC) and PPC with a Kalman filter observer (CKF).

引用

页码：252 / 261

页数：10

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