Trajectory Tracking Control for Mecanum-wheel Cambered Mobile Robots Based on Online Adaptive Critic Optimal Controller

2021 ◽  
Author(s):  
Yong Qin ◽  
Songyi Dian ◽  
Bin Guo ◽  
Guofei Xiang ◽  
Hongwei Fang ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Optimal Controller ◽  
Trajectory Tracking Control ◽  
Adaptive Critic ◽  
Mecanum Wheel

Fixed-time trajectory tracking control for multiple nonholonomic mobile robots

2020 ◽  
pp. 014233122096641
Author(s):  
Meiying Ou ◽  
Haibin Sun ◽  
Zhenxing Zhang ◽  
Lingchun Li
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Initial Conditions ◽  
Fixed Time ◽  
Nonholonomic Mobile Robots ◽  
Trajectory Tracking Control ◽  
Adding A Power Integrator ◽  
Time Control ◽  
Power Integrator

This paper investigates the fixed-time trajectory tracking control for a group of nonholonomic mobile robots, where the desired trajectory is generated by a virtual leader, the leader’s information is available to only a subset of the followers, and the followers are assumed to have only local interaction. According to fixed-time control theory and adding a power integrator technique, distributed fixed-time tracking controllers are developed for each robot such that all states of each robot can reach the desired value in a fixed time. Moreover, the settling time is independent of the system initial conditions and only determined by the controller parameters. Simulation results illustrate and verify the effectiveness of the proposed schemes.

Sign in / Sign up

Export Citation Format

Share Document