A stable tracking control method for an autonomous mobile robot

Abstract

This paper proposes a stable tracking control rule for non-bolonomic vehicles. Stability of the rule is proved through the use of a Liapunov function. Input to the vehicle are a reference posture (x,, y,, 8,)' and reference velocities (v,, ar)'. The major objective of this paper is to propose a control rule to find a reasonable target linear and rotational velocities (v, a ) ' .Linearizing the system's differential equation is useful to decide parameters for critical dumping for a small disturbance. In order to avoid any slippage, a velocity/acceleration limitation scheme was introduced. Several siniulation results are presented with or without the velocity/acceleration limiter. The control rule and limiting method proposed in this paper are robot-independent and hence can be applied to various kind of mobile robots with a dead reckoning ability. This method was implemented on the autonomous mobile robot Yamabico-11.Experimental results obtained are close to the results with the velocity/acceleration limiter.

Controle robusto de robos móveis em formação sujeitos a falhas

“…ou O controlador baseado na cinemática proposto por (Kanayama et al, 1990), fornece as velocidades angulares desejadas das rodas esquerda e direita,q d 2i , tais que os RMRs acompanhem as trajetórias de referência geradas pelo controle de formação.…”

Constrained Model Predictive Control of a skid-steering mobile robot

“…We now consider the well-known unicycle model [3,7,10,13] for the kinematic analysis, based on the hypothesis of negligible longitudinal slip in all four wheels and a rigid structure.…”

“…While quite popular, e.g. [3,7,13], it has the inconvenient of being unable to guarantee stability if the reference does not preserve some level of activity. Commonly, it requires the velocity of the reference to be different from zero at all times.…”

Hybrid Framework for Consensus in Directed and Asynchronous Network of Non-Holonomic Agents

“…For this reason both discontinuous control laws [11], [12] and time varying [13], [8] control laws have been studied to stabilize the center of rotation and the orientation of a single robot. The trajectory tracking control problem with smooth references has also been considered for This work was partially funded by the Région Grand Est and CEA Tech Metz non-holonomic dynamics via linearization of the error model [7], [14] or via dynamic feedback linearization [15]. Global exponential tracking of smooth trajectories is also presented in [16].…”