Unified Nonlinear Control for Car-like Mobile Robot 4 Wheels Steering

被引：0
|
作者：
Vargas, Mario F. [1 ]
Sarzosa, Darwin S. [1 ]
Andaluz, Victor H. [1 ]
机构：
[1] Univ Fuerzas Armadas ESPE, Sangolqui, Ecuador
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2018), PT II | 2018年 / 10985卷
关键词：
Stability and robustness proof; Unified motion control; Non-linear systems; Car-like mobile robot four-wheel steering;
D O I：
10.1007/978-3-319-97589-4_16
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This document presents a unified movement control scheme for mobile robots, a mobile four-wheel steering robot, which solves the control of the position of points, tracking problems of trajectories and path following. The control problem is solved according to the CLMR-4WS kinematic model. Then, a control scheme of two angular positions and one heading velocity is considered. The stability of the system is shown through the Lyapunov method.
引用
收藏
页码：182 / 194
页数：13
相关论文
共 50 条
  • [1] Neural predictive control for a car-like mobile robot
    Gu, DB
    Hu, HS
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2002, 39 (02) : 73 - 86
  • [2] Control of a car-like mobile robot for parking problem
    Lee, S
    Kim, M
    Youm, Y
    Chung, W
    ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, 1999, : 1 - 6
  • [3] Comparative analysis of two steering modes using a car-like mobile robot
    Diaz-Hernandez, Octavio
    Rodriguez-Huitron, Samuel
    2019 INTERNATIONAL CONFERENCE ON MECHATRONICS, ELECTRONICS AND AUTOMOTIVE ENGINEERING (ICMEAE 2019), 2019, : 114 - 118
  • [4] Fuzzy Synergetic Control for Dynamic Car-Like Mobile Robot
    Bouhamatou, Zoulikha
    Abedssemed, Foudil
    ACTA MECHANICA ET AUTOMATICA, 2022, 16 (01) : 48 - 57
  • [5] Output Maneuvering Control Scheme for a Car-like Mobile Robot
    Rodriguez-Cortes, H.
    Velasco-Villa, M.
    2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC), 2011, : 2843 - 2848
  • [6] Autonomous fuzzy parking control of a car-like mobile robot
    Li, THS
    Chang, SJ
    IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS, 2003, 33 (04): : 451 - 465
  • [7] Wall Following Control Algorithm for a Car-Like Wheeled-Mobile Robot with Differential-Wheels Drive
    Prayudhi, Lafin Hari
    Widyotriatmo, Augie
    Hong, Keum-Shik
    2015 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS), 2015, : 779 - 783
  • [8] Hybrid control of a car-like robot
    Sequeira, J
    Ribeiro, MI
    ROMOCO' 04: PROCEEDINGS OF THE FOURTH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL, 2004, : 167 - 173
  • [9] Dynamic Collision Avoidance for Car-like Mobile Robot Based on Nonlinear Trajectory Tracking Control
    Fan, Yunsheng
    Sun, Yutong
    Wang, Guofeng
    2017 NINTH INTERNATIONAL CONFERENCE ON ADVANCED COMPUTATIONAL INTELLIGENCE (ICACI), 2017, : 84 - 90
  • [10] Efficient trajectory of a car-like mobile robot
    Valero, Francisco
    Rubio, Francisco
    Lose Besa, Antonio
    Llopis-Albert, Carlos
    INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2019, 46 (02): : 211 - 222
12345