標題: Tracking control of unicycle-modeled mobile robots using a saturation feedback controller
作者: Lee, TC
Song, KT
Lee, CH
Teng, CC
電機資訊學士班
Undergraduate Honors Program of Electrical Engineering and Computer Science
關鍵字: mobile robots;motion control;nonlinear systems;stability;time-varying systems;tracking
公開日期: 1-Mar-2001
摘要: The tracking control problem with saturation constraint for a class of unicycle-modeled mobile robots is formulated and solved using the backstepping technique and the idea from the LaSalle's invariance principle. A global result is presented in which several constraints on the linear and the angular velocities of the mobile robot from recent literature are dropped. The proposed controller can simultaneously solve both the tracking and regulation problems of a unicycle-modeled mobile robot. With the proposed control laws, the robot can globally follow any path specified by a straight line, a circle or a path approaching the origin using a single controller. As demonstrated, the circular and parallel parking control problem are solved using the proposed controller. Computer simulations are presented which confirm the effectiveness of the proposed tracking control law Practical experimental results validate the simulations.
URI: http://dx.doi.org/10.1109/87.911382
http://hdl.handle.net/11536/29781
ISSN: 1063-6536
DOI: 10.1109/87.911382
期刊: IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Volume: 9
Issue: 2
起始頁: 305
結束頁: 318
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