Trajectory tracking control of nonholonomic mobile robots

被引：0
|
作者：
Li, Shi-Hua [1 ]
Tian, Yu-Ping [1 ]
机构：
[1] Dept. of Automat. Control, Southeast Univ., Nanjing 210096, China
来源：
| 2002年 / Northeast University卷 / 17期
关键词：
Computer simulation - Constraint theory - Convergence of numerical methods - Dynamics - Kinematics - Mathematical models - Theorem proving - Tracking (position);
D O I：
暂无
中图分类号：
学科分类号：
摘要：
The trajectory tracking control problem of the kinematic model of a mobile robot with nonholonomic constraints is discussed. Given some mild conditions, the reference model can be globally tracked with exponential convergence. The method especially solves the tracking problem of the reference model whose angular velocity and linear velocity both tend to zero. The method is also extended to the dynamic extension model of nonholonomic mobile robots. Simulation results validate the theoretical results.
引用
收藏
相关论文
共 50 条
  • [21] Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots with External Disturbances and Parameter Uncertainties
    Ye, Hui
    Wang, Shuai
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2020, 18 (12) : 3015 - 3022
  • [22] Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach
    Nascimento, Tiago P.
    Trabuco Dorea, Carlos Eduardo
    Goncalves, Luiz Marcos G.
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2018, 15 (01):
  • [23] Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots with Actuator Dynamic Being Considered
    Han Guangxin
    Zhao Yanhui
    MATERIALS SCIENCE AND INFORMATION TECHNOLOGY, PTS 1-8, 2012, 433-440 : 2596 - +
  • [24] A Simple Adaptive Control Approach for Trajectory Tracking of Electrically Driven Nonholonomic Mobile Robots
    Park, Bong Seok
    Yoo, Sung Jin
    Park, Jin Bae
    Choi, Yoon Ho
    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2010, 18 (05) : 1199 - 1206
  • [25] Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots with External Disturbances and Parameter Uncertainties
    Hui Ye
    Shuai Wang
    International Journal of Control, Automation and Systems, 2020, 18 : 3015 - 3022
  • [26] Dynamic tracking control of uncertain nonholonomic mobile robots
    Dong, WJ
    Guo, Y
    2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2005, : 1714 - 1719
  • [27] Leader-following Consensus and Trajectory Tracking for Nonholonomic Mobile Robots
    Wu, Shuang
    Xia, Yuanqing
    Lin, Min
    Luo, Yu
    2018 CHINESE AUTOMATION CONGRESS (CAC), 2018, : 3678 - 3683
  • [28] Dynamic adaptive trajectory tracking control of nonholonomic mobile robots using multiple models approach
    Onat, Altan
    Ozkan, Metin
    ADVANCED ROBOTICS, 2015, 29 (14) : 913 - 928
  • [29] Prescribed performance function based control for trajectory tracking of nonholonomic mobile robots with collision avoidance
    Park, Bong Seok
    2017 IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (CCTA 2017), 2017, : 1013 - 1018
  • [30] A trajectory tracking and obstacle avoidance approach for nonholonomic mobile robots based on model predictive control
    Zhang, Jingjun
    Wei, Di
    Gao, Ruizhen
    Xia, Ziqiang
    2020 IEEE 16TH INTERNATIONAL CONFERENCE ON CONTROL & AUTOMATION (ICCA), 2020, : 1038 - 1043
12345