Tracking Control Design for a Class of Mobile Robot with a Single Trailer via Differential Flatness Approach

2019 ◽  
pp. 1303-1312
Author(s):  
Chunxiao Wang ◽  
Huajun Fu ◽  
Zhongcai Zhang
Keyword(s):  
Mobile Robot ◽  
Tracking Control ◽  
Control Design ◽  
Differential Flatness

Motion Tracking Control Design for a Class of Nonholonomic Mobile Robot Systems

2020 ◽  
Vol 50 (6) ◽  
pp. 2150-2156 ◽  
Author(s):  
Jun Fu ◽  
Fangyin Tian ◽  
Tianyou Chai ◽  
Yuanwei Jing ◽  
Zhijun Li ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Tracking Control ◽  
Motion Tracking ◽  
Control Design ◽  
Nonholonomic Mobile Robot ◽  
Robot Systems

scholarly journals Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications

2019 ◽  
Vol 2019 ◽  
pp. 1-15 ◽  
Author(s):  
Gustavo Scaglia ◽  
Emanuel Serrano ◽  
Andres Rosales ◽  
Pedro Albertos
Keyword(s):  
Mobile Robot ◽  
Discrete Time ◽  
Tracking Control ◽  
Controller Design ◽  
Tracking Error ◽  
Control Design ◽  
Multivariable Systems ◽  
Design Technique ◽  
Simulation Results ◽  
Robotic Applications

In this work, a controller design technique called linear algebra based controller (LABC) is presented. The controller is obtained following a systematic procedure that is summarized in this work. In addition, the influence of additive uncertainty on the tracking error is analyzed, and a solution using integrators is proposed. A mobile robot is used as a benchmark to test the performance of the proposed algorithms. In addition, implementation to other systems such as marine vessel is referenced. In this work, the design of controllers in continuous and discrete time is included and experimental and simulation results are shown in a Pioneer 3AT mobile robot. Comparisons are also shown with other controllers proposed in the literature.

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