NURBS Curve Trajectory Tracking Control for Differential-Drive Mobile Robot by a Linear State Feedback Controller

2022 ◽  
pp. 685-696
Author(s):  
Nguyen Hong Thai ◽  
Trinh Thi Khanh Ly
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
State Feedback ◽  
Feedback Controller ◽  
Trajectory Tracking Control ◽  
Nurbs Curve ◽  
Differential Drive ◽  
State Feedback Controller ◽  
Linear State

scholarly journals Observer-based trajectory tracking control with preview action for a class of discrete-time Lipschitz nonlinear systems and its applications

2020 ◽  
Vol 12 (7) ◽  
pp. 168781402092265
Author(s):  
Xiao Yu ◽  
Fucheng Liao
Keyword(s):  
Nonlinear Systems ◽  
Discrete Time ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
State Feedback ◽  
Feedback Controller ◽  
Matrix Inequality ◽  
State Feedback Controller ◽  
Lipschitz Nonlinear Systems ◽  
Reference Knowledge

In this article, the observer-based preview tracking control problem is investigated for a class of discrete-time Lipschitz nonlinear systems. To convert the observer-based trajectory tracking problem into a regulation problem, the classical difference technique is used to construct an augmented error system containing tracking error signal and previewable reference knowledge. Then, a state feedback controller with specific structures is taken into consideration. Sufficient design condition is established, based on the Lyapunov function approach, to guarantee the asymptotic stability of the closed-loop system. By means of some special mathematical derivations, the bilinear matrix inequality condition is successfully transformed into a tractable linear matrix inequality. Meanwhile, the gains of both observer and tracking controller can be computed simultaneously only in one step. As for the original system, the developed tracking control law is composed of an integrator, an observer-based state feedback controller, and a preview action term related to the reference signal. Finally, two numerical examples are provided to demonstrate the effectiveness of the theoretical method.

Trajectory Tracking Control for a Differential Drive Wheeled Mobile Robot Considering the Dynamics Related to the Actuators and Power Stage

2016 ◽  
Vol 14 (2) ◽  
pp. 657-664 ◽  
Author(s):  
Ramon Silva Ortigoza ◽  
Jose Rafael Garcia Sanchez ◽  
Victor Manuel Hernandez Guzman ◽  
Celso Marquez Sanchez ◽  
Mariana Marcelino Aranda
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Wheeled Mobile Robot ◽  
Trajectory Tracking Control ◽  
Differential Drive ◽  
Power Stage

Trajectory tracking control of a nonholonomic mobile robot with differential drive

2016 ◽  
Author(s):  
Rigoberto Luis Silva Sousa ◽  
Marcus Davi do Nascimento Forte ◽  
Fabricio Gonzalez Nogueira ◽  
Bismark Claure Torrico
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Trajectory Tracking Control ◽  
Nonholonomic Mobile Robot ◽  
Differential Drive

A hierarchical constraint approach for dynamic modeling and trajectory tracking control of a mobile robot

2021 ◽  
pp. 107754632199918
Author(s):  
Rongrong Yu ◽  
Shuhui Ding ◽  
Heqiang Tian ◽  
Ye-Hwa Chen
Keyword(s):  
Mobile Robot ◽  
Dynamic Modeling ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Wheeled Mobile Robot ◽  
Structural Constraints ◽  
Control Force ◽  
Trajectory Tracking Control ◽  
Motion Constraints ◽  
Constraint Approach

The dynamic modeling and trajectory tracking control of a mobile robot is handled by a hierarchical constraint approach in this study. When the wheeled mobile robot with complex generalized coordinates has structural constraints and motion constraints, the number of constraints is large and the properties of them are different. Therefore, it is difficult to get the dynamic model and trajectory tracking control force of the wheeled mobile robot at the same time. To solve the aforementioned problem, a creative hierarchical constraint approach based on the Udwadia–Kalaba theory is proposed. In this approach, constraints are classified into two levels, structural constraints are the first level and motion constraints are the second level. In the second level constraint, arbitrary initial conditions may cause the trajectory to diverge. Thus, we propose the asymptotic convergence criterion to deal with it. Then, the analytical dynamic equation and trajectory tracking control force of the wheeled mobile robot can be obtained simultaneously. To verify the effectiveness and accuracy of this methodology, a numerical simulation of a three-wheeled mobile robot is carried out.

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