TY - JOUR
T1 - Target Enclosing and Trajectory Tracking for a Mobile Robot With Input Disturbances
AU - Yu, Xiao
AU - Liu, Lu
PY - 2017/10
Y1 - 2017/10
N2 - This letter investigates two control problems of a unicycle-type mobile robot: 1) target enclosing and 2) trajectory tracking. The existence of disturbance in velocities, i.e., the input channels of a mobile robot, is considered in both problems. The input disturbance is assumed to be generated by a linear exogenous system, which can be used to describe linear combinations of a finite number of sinusoidal signals and step signals. Two dynamic control laws are proposed respectively, such that the disturbance rejection is achieved and global asymptotic stability of the closed-loop system is guaranteed. Finally, simulation results of an example verify effectiveness of the proposed control laws.
AB - This letter investigates two control problems of a unicycle-type mobile robot: 1) target enclosing and 2) trajectory tracking. The existence of disturbance in velocities, i.e., the input channels of a mobile robot, is considered in both problems. The input disturbance is assumed to be generated by a linear exogenous system, which can be used to describe linear combinations of a finite number of sinusoidal signals and step signals. Two dynamic control laws are proposed respectively, such that the disturbance rejection is achieved and global asymptotic stability of the closed-loop system is guaranteed. Finally, simulation results of an example verify effectiveness of the proposed control laws.
KW - Adaptive control
KW - Autonomous vehicles
KW - Nonholonomic systems
UR - http://www.scopus.com/inward/record.url?scp=85042757718&partnerID=8YFLogxK
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85042757718&origin=recordpage
U2 - 10.1109/LCSYS.2017.2712663
DO - 10.1109/LCSYS.2017.2712663
M3 - RGC 21 - Publication in refereed journal
SN - 2475-1456
VL - 1
SP - 221
EP - 226
JO - IEEE Control Systems Letters
JF - IEEE Control Systems Letters
IS - 2
ER -