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

共 33 条

[21]

GULDNER J, 1994, IEEE DECIS CONTR P, P2967, DOI 10.1109/CDC.1994.411340

[22] Robust control laws for wheeled mobile robots [J].

Hamel, T ;

Meizel, D .

INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 1996, 27 (08) :695-704

[23]

JIANG ZP, 1994, IEEE DECIS CONTR P, P2207, DOI 10.1109/CDC.1994.411494

[24]

KOLMANOVSKY I, 1998, IEEE CONTROL SYS DEC, P20

[25]

Nijmeijer H., 1990, NONLINEAR DYNAMIC CO

[26] A wheelchair steered through voice commands and assisted by a reactive fuzzy-logic controller [J].

Pires, G ;

Nunes, U .

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2002, 34 (03) :301-314

[27] CONTROL OF MECHANICAL SYSTEMS WITH ROLLING CONSTRAINTS - APPLICATION TO DYNAMIC CONTROL OF MOBILE ROBOTS [J].

SARKAR, N ;

YUN, XP ;

KUMAR, V .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1994, 13 (01) :55-69

[28] Design and control of a variable footprint mechanism for holonomic omnidirectional vehicles and its application to wheelchairs [J].

Wada, M ;

Asada, HH .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1999, 15 (06) :978-989

[29] Dynamic model and control for a holonomic omnidirectional mobile robot [J].

Yamada, T ;

Watanabe, K ;

Kiguchi, K ;

Izumi, K .

AUTONOMOUS ROBOTS, 2001, 11 (02) :173-189

[30] Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots [J].

Yang, JM ;

Kim, JH .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1999, 15 (03) :578-587

← 1 2 3 4 →