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Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots With Unknown Sliding : Tracciamento adattativo e controllo di evitamento ostacoli per robot mobili con slittamenti non conosciti, in: International Journal of Advanced Robotic Systems

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Autore Cui, Mingyue; Sun, Dihua; Liu, Weining; Zhao, Min; Liao, Xiaoyong
Pubblicato  InTech Open Access Publisher, 2012
edizione  
Volume  
ISBN
Abstract An adaptive control approach is proposed for
trajectory tracking and obstacle avoidance for mobile
robots with consideration given to unknown sliding. A
kinematic model of mobile robots is established in this
paper, in which both longitudinal and lateral sliding are
considered and processed as three time‐varying
parameters. A sliding model observer is introduced to
estimate the sliding parameters online. A stable tracking
control law for this nonholonomic system is proposed to
compensate the unknown sliding effect. From Lyapunovstability
analysis, it is proved, regardless of unknown
sliding, that tracking errors of the controlled closed‐loop
system are asymptotically stable, the tracking errors
converge to zero outside the obstacle detection region
and obstacle avoidance is guaranteed inside the obstacle
detection region. The efficiency and robustness of the
proposed control system are verified by simulation
results.
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Articoli a Rivista
2000 ed oltre
Superordinate work
 
no fulltext found 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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Documents: International Journal of Advanced Robotic Systems
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Time of publication 2012
License information Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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