Documenti accessibili
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Informazioni generali |
| Autore |
González-Sierra, Jaime; Aranda-Bricaire, Eduardo; Hernandez-Martinez, Eduardo Gamaliel |
| Pubblicato |
InTech Open Access Publisher, 2013
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| edizione |
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| Abstract |
This paper presents three trajectory tracking
control strategies for unicycle‐type robots based on a
leader‐followers scheme. The leader robot converges
asymptotically to a smooth trajectory, while the follower
robots form an undirected open‐chain configuration at
the same time. It is also shown that the orientation angles
of all the robots converge to the same value. The control
laws are based on a dynamic extension of the kinematic
model of each robot. The output function to be controlled
is the midpoint of the wheel axis of every robot. This
choice leads to an ill‐defined control law when the robot
is at rest. To avoid such singularities, a complementary
control law is enabled momentarily when the linear
velocity of the unicycles is close to zero. Finally,
numerical simulations and real‐time experiments show
the performance of the control strategies. |
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International Journal of Advanced Robotic Systems
Autore: 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, [...]
Pubblicato: 2004
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