Simultaneous Tracking and Stabilization Control for Differential-drive Mobile Robots with Diamond-Shaped Input Constraints

被引：0
|
作者：
Chen, Xiaozhen [1 ]
Wang, Zhuping [1 ]
Zhu, Jin [1 ]
Chen, Qijun [1 ]
机构：
[1] Tongji Univ, Dept Elect & Informat Engn, 4800 Caoan Rd, Shanghai, Peoples R China
来源：
PROCEEDINGS OF THE 2016 12TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2016年
关键词：
NONHOLONOMIC SYSTEMS; FEEDBACK; SATURATION;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the simultaneous tracking and stabilization problem is addressed for the differential-drive mobile robots with diamond-shaped input constraints. Firstly, a smooth controller with time-varying feedback parameters is proposed using the backstepping technique. Secondly, the strategy of designing time-varying feedback parameters for proposed controller is used to handle the challenge represented by diamond shaped input constraints. A geometric, analysis approach is used to design the time-varying feedback parameters, so that the input constraints is satisfied. Furthermore, the proof is given for the simultaneous tracking and stabilization analysis of the closed-loop system. In the meantime, the inputs of WMRs are proved in the diamond-shaped domain. Finally, the simulation results illustrate the effectiveness of the proposed controller.
引用
收藏
页码：182 / 187
页数：6
相关论文
共 50 条
  • [21] Trajectory Tracking Control of Differential Wheeled Mobile Robots Based on Rhombic Input Constraints
    Gong, Kai
    Jia, Yingmin
    Jia, Yuxin
    PROCEEDINGS OF THE 2021 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS (ICAROB 2021), 2021, : 368 - 372
  • [22] Trajectory Tracking Control for Omnidirectional Mobile Robots with Input Constraints
    Zheng, Wenhao
    Jia, Yingmin
    PROCEEDINGS OF THE 2016 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS (ICAROB 2016), 2016, : 373 - 376
  • [23] Tracking Control of Mobile Robots based on Rhombic Input Constraints
    Gong, Kai
    Jia, Yingmin
    Jia, Yuxin
    JOURNAL OF ROBOTICS NETWORKING AND ARTIFICIAL LIFE, 2022, 8 (04): : 284 - 288
  • [24] Dynamic Velocity Tracking Control of Differential-Drive Mobile Robot Based On LADRC
    Lamraoui, Habib Choukri
    Qidan, Zhu
    Benrabah, Abdeldjabar
    2017 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS (RCAR), 2017, : 633 - 638
  • [25] Linear estimation of the odometric parameters for differential-drive mobile robots
    Antonelli, Gianluca
    Chiaverini, Stefano
    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, : 3287 - +
  • [26] Adaptive Control for Simultaneous Stabilization and Tracking of Unicycle Mobile Robots
    Miao, Zhiqiang
    Wang, Yaonan
    ASIAN JOURNAL OF CONTROL, 2015, 17 (06) : 2277 - 2288
  • [27] A hybrid control law for path tracking of a dual differential-drive mobile robot
    Liu, Qi
    Wang, Ying
    AGRO FOOD INDUSTRY HI-TECH, 2017, 28 (01): : 1977 - 1981
  • [28] Trajectory Tracking Control for Differential-Drive Mobile Robot by a Variable Parameter PID Controller
    Thai, Nguyen Hong
    Ly, Trinh Thi Khanh
    Thien, Hoang
    Dzung, Le Quoc
    INTERNATIONAL JOURNAL OF MECHANICAL ENGINEERING AND ROBOTICS RESEARCH, 2022, 11 (08): : 614 - 621
  • [29] NAVIGATION CONTROL IN FPGA FOR A DIFFERENTIAL-DRIVE MOBILE ROBOT
    Baquero Velasquez, Andres E.
    Guerrero, Henry Borrero
    Argote Pedraza, Ingrid Lorena
    Magalhaes, Daniel Varela
    Becker, Marcelo
    de Paula Caurin, Glauco Augusto
    2013 16TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR), 2013,
  • [30] Minimum wheel-rotation paths for differential-drive mobile robots
    Chitsaz, Hamidreza
    LaValle, Steven M.
    Balkcom, Devin J.
    Mason, Matthew T.
    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, : 1616 - +
12345