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Generalized Extended State Observer Approach to Robust Tracking Control for Wheeled Mobile Robot with Skidding and Slipping : Un approccio generalizzato basato su osservatore di stato esteso per il controllo del tracking di un robot mobile, in: International Journal of Advanced Robotic Systems

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Autor Kang, Hyo-Seok; Kim, Yong-Tae; Hyun, Chang-Ho; Park, Mignon
Erschienen  InTech Open Access Publisher, 2013
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Kurzbeschreibung This paper proposes a robust tracking controller
based on a Generalized Extended State Observer (GESO)
method for a wheeled mobile robot (WMR) with unknown
skidding and slipping. Skidding and slipping of a WMR are
inevitable in practice. We regard skidding and slipping as
disturbances and modify the dynamics model to consider
them simply. Then, we adopt the GESO to design a robust
tracking controller at kinematic and dynamic level. Using
Lyapunov theory, we derive the control law and guarantee
the stability of the control system. The proposed control
achieves attenuation of the disturbance and convergence of
the tracking errors. The performance of the proposed
method is verified by some simulation results.
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Zeitschriftenartikel
ab 2000
Übergeordnete Werke
 
no fulltext found International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Erschienen: 2004
Verknüpfte Datensätze
Dokumente: International Journal of Advanced Robotic Systems
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DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=31938009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_31938009.html
PDF FaviconPDF  Generalized Extended State Observer Approach to Robust Tracking Control for Wheeled Mobile Robot with Skidding and Slipping
Datenbereitsteller
UCAUniv. Cassino  http://webuser.unicas.it/weblarm/larmindex.htm
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Publikationsdatum 2013
Lizenzinformation Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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