Trajectory Tracking with Input Constraint based on LMI Approach of a Nonholonomic Mobile Robot

Nonholonomic Mobile Robot (NMR) is a mode of transportation that is widely used in industry. To achieve flexibility in carrying out its duties, an adequate control system is needed in transportation arrangements so that it is used as an object of research. The problem that is taken in this study is about tracking control for several reference trajectories with input constraint.To solve this problem two controllers were designed, kinematics controller and dynamics controller. Kinematics controller is designed so that the additional speed converges to the desired speed by adjusting the gain value , , and . Dynamic controller is designed using performance to overcome the input constraint and the Lyapunoc inequality is soleved by Linear Matric Inequalities (LMI) so the gain state-feedback can be obtained. Simulation results show that the designed controller is capable of tracking according to the reference trajectory with input constraint given.

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Adaptive tracking control design for high-order nonholonomic mobile robot systems

2008 International Conference on Machine Learning and Cybernetics ◽

10.1109/icmlc.2008.4620710 ◽

2008 ◽

Cited By ~ 1

Author(s):

Jeng-Tze Huang

Keyword(s):

Mobile Robot ◽

Tracking Control ◽

Control Design ◽

High Order ◽

Adaptive Tracking Control ◽

Nonholonomic Mobile Robot ◽

Adaptive Tracking ◽

Robot Systems

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Practical Tracking Control of a Class of Uncertain Surface Vessels Under Weak Assumptions on Uncertainties and Reference Trajectories

10.21203/rs.3.rs-698630/v1 ◽

2021 ◽

Author(s):

Jian Li ◽

Wenqing Xu ◽

Zhaojing Wu ◽

Yungang Liu

Keyword(s):

Tracking Control ◽

Broad Class ◽

Tracking Error ◽

Reference Trajectory ◽

Unknown Parameters ◽

Related Literature ◽

Surface Vessels ◽

Control Scheme ◽

Reference Trajectories ◽

Theoretical Results

Abstract This paper is devoted to the tracking control of a class of uncertain surface vessels. The main contributions focus on the considerable relaxation of the severe restrictions on system uncertainties and reference trajectory in the related literature. Specifically, all the system parameters are unknown and the disturbance is not necessarily to be differentiable in the paper, but either unknown parameters or disturbance is considered but the other one is excluded in the related literature, or both of them are considered but the disturbance must be continuously differentiable. Moreover, the reference trajectories in the related literature must be at least twice continuously differentiable and themselves as well as their time derivatives must be known for feedback, which are generalized to a more broad class ones that are unknown and only one time continuously differentiable in the paper. To solve the control problem, a novel practical tracking control scheme is presented by using backstepping scheme and adaptive technique, and in turn to derive an adaptive state-feedback controller which guarantees that all the states of the resulting closed-loop system are bounded while the tracking error arrives at and then stay within an arbitrary neighborhood of the origin. Finally, simulation is provided to validate the effectiveness of the proposed theoretical results.

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