Adaptive motion control of a nonholonomic vehicle

Gusev, Sergei V.; Макаров, И. А.; Paromtchik, I.E.; Yakubovich, V. A.; Laugier, Christian

doi:10.1109/robot.1998.680945

Cited by 25 publications

(10 citation statements)

References 12 publications

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“…Consequently, the virtual system will provide estimates of the unmeasured states of the leader. As in Gusev et al (1998), the first step (kinematic level) considers the velocities ν v of the virtual system as the control inputs, and the control law is designed such that convergence of the virtual trajectories to the leader trajectories is ensured. In a way, the trajectories x v and velocities ν v can be considered as estimates of the leader states x m and ν m .…”

Section: A Kinematic Observer Approachmentioning

confidence: 99%

“…The virtual system approach has been utilized both as an abstraction vehicle in Crowley (1989), and as an intermediate level between the desired trajectories of a system and the controller. The virtual system can be considered as a low-level controller in a two-level control structure (Fradkov et al, 1991;Gusev et al, 1998). A kinematic observer that reconstructs the velocity of the leader for adaptive formation control has also been designed in Choi et al (2010).…”

Section: Introductionmentioning

confidence: 99%

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Dynamic and kinematic observers for output coordination control of Euler-Lagrange systems: A comparison and applications

Kyrkjebø¹

2015

MIC

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This paper compares a dynamic and a kinematic observer approach for output coordination control of mechanical systems formulated in the Euler-Lagrange framework. The observers are designed to estimate missing velocity and acceleration information based on position/attitude measurements to provide a full state vector to the coordination control algorithm. The kinematic observer approach utilizes a virtual system designed to mimic the kinematic behaviour of the leader in order to estimate unknown states of the state vector with a minimum of information available. The dynamic observer approach is based on utilizing the full dynamic model of the follower system when estimating the missing states. The two observers are compared in terms of estimation principles and practical performance, and applied to two practical examples; leader-follower robot manipulator synchronization control, and underway replenishment operations for surface ships.

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Section: A Kinematic Observer Approachmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic and kinematic observers for output coordination control of Euler-Lagrange systems: A comparison and applications

Kyrkjebø¹

2015

MIC

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“…As in Gusev et al (1998), in the first step (kinematic level) we consider the velocitiesq v of the virtual manipulator as the control inputs, and design them in such a way that we ensure convergence of the virtual trajectories to the leader trajectories. In a way, we can consider the trajectories x v and velocitiesq v as estimates of x m andq m , that is, the virtual manipulator is a form of kinematic estimator of the leader states through the position feedback loop.…”

Section: Virtual Manipulator Designmentioning

confidence: 99%

“…The virtual system can be considered as a low-level controller in a two-level control structure (Fradkov et al, 1991;Gusev et al, 1998), and has been used in Sakaguchi et al (1999) as the mapping of a physical vehicle on an entry-ramp on a main lane in order to do merging control of autonomous mobile robots, and in Egerstedt et al (2001) to control a reference point on a planned path. The latter approach has been utilized in Hu et al (2003) to combine the task of path following and obstacle avoidance, and in Cheng et al (2004) with a modified goal point to improve practical robustness to path diversity.…”

Section: Introductionmentioning

confidence: 99%

Operational space synchronization of two robot manipulators through a virtual velocity estimate

Kyrkjebø¹,

Pettersen²

2008

MIC

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“…In a way, it can be considered as a low-level controller in a two-level control structure (cf. [13,14]), and was used in [15] as the mapping of a physical vehicle on an entry-ramp on a main lane in order to do merging control of autonomous mobile robots, and in [16] to control a reference point on a planned path. The latter approach has been utilized in [17] to combine the task of path following and obstacle avoidance, and in [18] with a modified goal point to improve practical robustness to path diversity.…”

Section: Introductionmentioning

confidence: 99%

A Virtual Vehicle Approach to Underway Replenishment

Kyrkjebø

Panteley

Chaillet

et al.

Group Coordination and Cooperative Control

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Summary. The problem of coordinated control of a leader-follower system is solved using a virtual vehicle approach to alleviate information requirements on the leader. The virtual vehicle stabilizes to a shifted reference position/heading defined by the leader, and provides a reference velocity for the synchronization control law of the follower. Only position/heading measurements are available from the leader, and the closed-loop errors are shown to be uniformly globally practically asymptotically stable. IntroductionUnderwayr eplenishment at sear equiresaclose coordination of twov essels, and hasu pt on ow been conducted usingm anualc ontrol together with controlfl ags to exchange instructions between the vessels. Recenta dvances in controlt heory and measurements ystems, in particulart he introductiono ft he Global Positioning System (GPS)([1]) andt he Automatic Identification System (AIS)([2]), have allowed automaticcontrol approaches forreplenishment purposes. Theseautopilots arefaced with theg oal of suppressing effects of externaldisturbancesd ue to wind,w aves and currents, while achieving theaccuracydemandsofthe operationusing areduced set of measurements. The introductionofautopilots expand therange of operating conditions fors afer eplenishment in termso fi ncreasedm anoeuvrabilityi nc lose waters or in the proximityo fo ther vessels, andi nt he robustnesst owardse nvironmental disturbances.Controla pproaches used in [3]a nd [4]a re basedo nt he assumption that ac ompletem athematical model of both vessels is available,a nd thus autopilots forb oth vessels canbed esigned to suppresst he effects of externald isturbances. However, in ap racticall eader-followerr eplenishmento peration,t he followerm ay have limited access to informationofthe controlinput, modeland states of theleader. Therefore, to alleviatet he information requirements on thel eader vessel,

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Adaptive motion control of a nonholonomic vehicle

Cited by 25 publications

References 12 publications

Dynamic and kinematic observers for output coordination control of Euler-Lagrange systems: A comparison and applications

Dynamic and kinematic observers for output coordination control of Euler-Lagrange systems: A comparison and applications

Operational space synchronization of two robot manipulators through a virtual velocity estimate

A Virtual Vehicle Approach to Underway Replenishment

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