Trajectory tracking control of nonholonomic wheeled mobile robots using only measurements for position and velocity

Yan, Lixia; Ma, Baoli; Jia, Yingmin

doi:10.1016/j.automatica.2023.111374

Automatica

2024

DOI: 10.1016/j.automatica.2023.111374

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Trajectory tracking control of nonholonomic wheeled mobile robots using only measurements for position and velocity

Lixia Yan,

Baoli Ma,

Yingmin Jia

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2024

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Simultaneous Tracking and Stabilization of Nonholonomic Wheeled Mobile Robots under Constrained Velocity and Torque

Li,

Cai,

Wang

et al. 2024

Mathematics

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Currently, most assumptions in nonholonomic mobile robot controllers indicate that the robot velocity can become significantly large and that the robot actuators are able to generate the necessary level of torque input. Based on the sliding mode control theory, this paper develops a new framework to handle the control problem of a wheeled robot dynamics model with constrained velocity and torque. Through rigorous theoretical analysis and extensive simulations, we demonstrate that the proposed controller guarantees asymptotic convergence of tracking or stabilization errors and boundedness of closed-loop signals. The advantages of the developed controller include the ability to simultaneously achieve tracking and stabilization control of nonholonomic mobile robots and the ability to ensure that the prescribed velocity and torque constraints are not breached by simply tuning the design parameters a priori, even in the presence of uncertain disturbances.

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Simultaneous Tracking and Stabilization of Nonholonomic Wheeled Mobile Robots under Constrained Velocity and Torque

Li,

Cai,

Wang

et al. 2024

Mathematics

View full text Add to dashboard Cite

show abstract

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Trajectory tracking control of nonholonomic wheeled mobile robots using only measurements for position and velocity

Cited by 1 publication

References 9 publications

Simultaneous Tracking and Stabilization of Nonholonomic Wheeled Mobile Robots under Constrained Velocity and Torque

Simultaneous Tracking and Stabilization of Nonholonomic Wheeled Mobile Robots under Constrained Velocity and Torque

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