On-line Reference Governor for Mobile Robot with Velocity Feedback Controller

被引：0

作者：

Kawabata, Kuniaki ^{[1
,2
]}

Xue, Jianru ^{[2
]}

Ma, Liang ^{[2
]}

Zheng, Nanning ^{[2
]}

机构：

[1] RIKEN Phys & Chem Res, Wako, Saitama 3510198, Japan

[2] Xi An Jiao Tong Univ, Inst Artificial Intelligence & Robot, Xian 710049, Shanxii, Peoples R China

来源：

2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2014年

关键词：

SYSTEM;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper proposed an on-line reference governor for a mobile robot with velocity feedback controller. In order to follow given time path by a mobile robot, it is a practical subject how to cope with the disturbances by the slippage and the restrictions on the control system. In this paper, we proposed a methodology to adjust iteratively the control reference based on time scaling approach for a mobile robot to follow the path. By introducing proposed on-line reference governor, control input saturation can be reduced in case of that the disturbances occur during traveling and path tracking error is also reduced. For verification of our proposed method, computer simulations utilizing a plant with stable feedback controller were conducted and the results were discussed in this paper.

引用

页码：1048 / 1053

页数：6

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