Target Enclosing and Trajectory Tracking for a Mobile Robot With Input Disturbances
Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review
Author(s)
Detail(s)
| Original language | English |
|---|---|
| Pages (from-to) | 221-226 |
| Journal / Publication | IEEE Control Systems Letters |
| Volume | 1 |
| Issue number | 2 |
| Online published | 7 Jun 2017 |
| Publication status | Published - Oct 2017 |
Link(s)
Abstract
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.
Research Area(s)
- Adaptive control, Autonomous vehicles, Nonholonomic systems
Citation Format(s)
Target Enclosing and Trajectory Tracking for a Mobile Robot With Input Disturbances. / Yu, Xiao; Liu, Lu.
In: IEEE Control Systems Letters, Vol. 1, No. 2, 10.2017, p. 221-226.
In: IEEE Control Systems Letters, Vol. 1, No. 2, 10.2017, p. 221-226.
Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review
