Trajectory tracking for nonholonomic vehicles with velocity constraints
Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review
Author(s)
Detail(s)
| Original language | English |
|---|---|
| Title of host publication | IFAC-PapersOnLine |
| Editors | Alexey Bobtsov, Sergey Kolyubin, Anton Pyrkin |
| Publisher | ELSEVIER |
| Pages | 918-923 |
| Volume | 48(11) |
| ISBN (print) | 2405-8963 |
| Publication status | Published - 1 Jul 2015 |
Conference
| Title | 1st IFAC Conference on Modelling, Identification and Control of Nonlinear Systems, MICNON 2015 |
|---|---|
| Place | Russian Federation |
| City | Saint Petersburg |
| Period | 24 - 26 June 2015 |
Link(s)
Abstract
This paper proposes a novel controller for trajectory tracking of nonholonomic vehicles of unicycle type. The vehicle is subject to velocity constraints consisting of angular velocity saturation and bounded linear velocity with a positive-minimum value. It is shown that the trajectory tracking problem can be solved with the proposed velocity controller. Meanwhile, velocity constraints can be satisfied by tuning of the design parameters. Finally, simulation results of several examples illustrate the effectiveness of the proposed controller.
Research Area(s)
- Mobile Robots, Motion Control, Nonholonomic Constraint, Nonlinear Systems, Trajectory Tracking, Velocity Constraint
Citation Format(s)
Trajectory tracking for nonholonomic vehicles with velocity constraints. / Yu, Xiao; Liu, Lu; Feng, Gang.
IFAC-PapersOnLine. ed. / Alexey Bobtsov; Sergey Kolyubin; Anton Pyrkin. Vol. 48(11) ELSEVIER, 2015. p. 918-923.
IFAC-PapersOnLine. ed. / Alexey Bobtsov; Sergey Kolyubin; Anton Pyrkin. Vol. 48(11) ELSEVIER, 2015. p. 918-923.
Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review
