Tracking Control of Mobile Robots without Constraint on Velocities
スポンサーリンク
概要
- 論文の詳細を見る
A general tracking control problem for mobile robots is proposed and solved using the backstepping technique. A global result is given for the kinematic steering system to make the tracking error approaching to zero asymptotically. Based on our efforts, the proposed controller can solve both the tracking problem and the regulation problem of mobile robots. In particular, mobile robots can now globally follow any differentiable with bounded velocities path such as a straight line, a circle and the path approaching to the origin using the proposed controller. Moreover, the problem of back-into-garage parking is also solved by our approach. Some interesting simulation results are given to illustrate the effectiveness of the proposed tracking control laws.
- 社団法人電子情報通信学会の論文
- 2001-09-01
著者
-
Teng C‐c
Department Of Electrical And Control Engineering National Chiao Tung University
-
Lee Ching-hung
Department Of Electrical Engineering Yuan Ze University
-
Lee Chong-ho
Department Of Electrical Engineering Yuan Ze University
-
LEE Ti-Chung
Department of Electrical Engineering, Ming Hsin Institute of Technology
-
LEE Ching-Hung
the Department of Electrical Engineering, Yuan Ze University
-
LEE Ti-Chung
the Department of Electrical Engineering, Ming Hsin Institute of Technology
-
TENG Ching-Cheng
the Department of Electrical and Control Engineering, National Chiao Tung University
-
Lee Ti-chung
Department Of Electrical Engineering Ming Hsin Institute Of Technology
関連論文
- Adaptive Control of Uncertain Chaotic Systems Based on Takagi-Sugeno Fuzzy Models(Special Section on Nonlinear Theory and its Applications)
- Intrinsic Evolution for Synthesis of Fault-Recoverable Circuit (Special Section on VLSI Design and CAD Algorithms)
- Adaptive Tracking Control of Nonholonomic Mobile Robots by Computed Torque(Systems and Control)
- Tracking Control of Mobile Robots without Constraint on Velocities