A Mobile Robot Tracking Controller Design and Implementation on ROS-MATLAB based Experiment System

2021 ◽  
Author(s):  
Zhenning Yu ◽  
Seng Fat Wong
Keyword(s):  
Mobile Robot ◽  
Controller Design ◽  
Experiment System ◽  
Design And Implementation ◽  
Robot Tracking ◽  
Tracking Controller

scholarly journals Backstepping Approach for Autonomous Mobile Robot Trajectory Tracking

2016 ◽  
Vol 2 (3) ◽  
pp. 478 ◽  
Author(s):  
Ibari Benaoumeur ◽  
Benchikh Laredj ◽  
Hanifi Elhachimi Amar Reda ◽  
Ahmed-foitih Zoubir
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Controller Design ◽  
Tracking Errors ◽  
Robust Controller ◽  
Output Tracking ◽  
Robot Trajectory ◽  
Tracking Controller ◽  
Angular Velocities ◽  
The Given

This paper proposes a backstepping controller design for trajectory tracking of unicycle-type mobile robots. The main object of the control algorithms developed is to design a robust output tracking controller. The design of the controller is based on the lyapunov theorem, kinematic tracking controller of an unicycle-like mobile robot is used to provides the desired values of the linear and angular velocities for the given trajectory. A Lyapunov-based stability analysis is presented to guarantee the robot stability of the tracking errors. Simulation and experimental results show the effectiveness of the proposed robust controller in term of accuracy and stability under different load conditions.

scholarly journals Motion Equations and Attitude Control in the Vertical Flight of a VTOL Bi-Rotor UAV

Electronics ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 208 ◽  
Author(s):  
Sergio Garcia-Nieto ◽  
Jesus Velasco-Carrau ◽  
Federico Paredes-Valles ◽  
Jose Salcedo ◽  
Raul Simarro
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Attitude Control ◽  
Controller Design ◽  
Experimental Studies ◽  
Hardware In The Loop ◽  
Motion Equations ◽  
Design And Implementation ◽  
Aerial Vehicles ◽  
Attitude Tracking ◽  
Tracking Controller

This paper gathers the design and implementation of the control system that allows an unmanned Flying-wing to perform a Vertical Take-Off and Landing (VTOL) maneuver using two tilting rotors (Bi-Rotor). Unmanned Aerial Vehicles (UAVs) operating in this configuration are also categorized as Hybrid UAVs due to their ability of having a dual flight envelope: hovering like a multi-rotor and cruising like a traditional fixed-wing, providing the opportunity of facing complex missions in which these two different dynamics are required. This work exhibits the Bi-Rotor nonlinear dynamics, the attitude tracking controller design and also, the results obtained through Hardware-In-the-Loop (HIL) simulation and experimental studies that ensure the controller’s efficiency in hovering operation.

scholarly journals Disturbance Decoupling and Tracking Controller Design for Lateral Vehicle Dynamics

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 40706-40715
Author(s):  
Mohammad Reza Satouri ◽  
Abolhassan Razminia ◽  
Saleh Mobayen ◽  
Pawel Skruch
Keyword(s):  
Vehicle Dynamics ◽  
Controller Design ◽  
Disturbance Decoupling ◽  
Lateral Vehicle Dynamics ◽  
Tracking Controller
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