Adaptive and Predictive Path Tracking Control for Off-road Mobile Robots

2007 ◽  
Vol 13 (4) ◽  
pp. 419-439 ◽  
Author(s):  
Roland Lenain ◽  
Benoit Thuilot ◽  
Christophe Cariou ◽  
Philippe Martinet
Keyword(s):  
Mobile Robots ◽  
Tracking Control ◽  
Path Tracking

Discussion on: “Adaptive and Predictive Path Tracking Control for Off-road Mobile Robots”

2007 ◽  
Vol 13 (4) ◽  
pp. 440-444
Author(s):  
Kristijan Macek ◽  
Jadranko Matuško ◽  
Agostino Martinelli ◽  
Roland Siegwart
Keyword(s):  
Mobile Robots ◽  
Tracking Control ◽  
Path Tracking

scholarly journals Path Tracking Control by Online Learning using CMAC for an Omnidirectional Mobile Robots

2002 ◽  
Vol 122 (9) ◽  
pp. 910-917 ◽  
Author(s):  
Shoichiro Fujisawa ◽  
Ryota Kurozumi ◽  
Ryo Onishi ◽  
Kazuo Kawada ◽  
Toru Yamamoto
Keyword(s):  
Online Learning ◽  
Mobile Robots ◽  
Tracking Control ◽  
Path Tracking

Global inverse optimal exponential path-tracking control of mobile robots driven by Lévy processes

Robotica ◽  
2021 ◽  
pp. 1-27
Author(s):  
K. D. Do
Keyword(s):  
Optimal Control ◽  
Mobile Robots ◽  
Tracking Control ◽  
Lévy Processes ◽  
Control Design ◽  
Levy Processes ◽  
Path Tracking ◽  
Tracking Errors ◽  
Hamilton Jacobi Bellman ◽  
And Control

Abstract This paper formulates and solves a new problem of global practical inverse optimal exponential path-tracking control of mobile robots driven by Lévy processes with unknown characteristics. The control design is based on a new inverse optimal control design for nonlinear systems driven by Lévy processes and ensures global practical exponential stability almost surely and in the pth moment for the path-tracking errors. Moreover, it minimizes cost function that penalizes tracking errors and control torques without having to solve a Hamilton–Jacobi–Bellman or Hamilton–Jaccobi–Isaacs equation.

scholarly journals Adaptive Fuzzy Path Tracking Control for Mobile Robots with Unknown Control Direction

2021 ◽  
Vol 2021 ◽  
pp. 1-7
Author(s):  
Qifei Du ◽  
Lin Sha ◽  
Wuxi Shi ◽  
Liankun Sun
Keyword(s):  
Mobile Robots ◽  
Tracking Control ◽  
Center Of Mass ◽  
Approximation Error ◽  
Path Tracking ◽  
Robust Controller ◽  
Adaptive Fuzzy ◽  
Unknown Control ◽  
Unknown Control Direction ◽  
Control Direction

In order to synthesize controllers for wheeled mobile robots (WMRs), some design techniques are usually based on the assumption that the center of mass is at the center of the robot itself. Nevertheless, the exact position of the center of mass is not easy to measure, thus WMRs is a typical uncertain nonlinear system with unknown control direction. Based on the fast terminal sliding mode control, an adaptive fuzzy path tracking control scheme is proposed for mobile robots with unknown control direction. In this scheme, the fuzzy system is used to approximate unknown functions, and a robust controller is constructed to compensate for the approximation error. The Nussbaum-type functions are integrated into the robust controller to estimate the unknown control direction. It is proved that all the signals in the closed-loop system are bounded, and the tracking error converges to a small neighborhood of the origin in a limited time. The effectiveness of the proposed scheme is illustrated by a simulation example.

scholarly journals Path Tracking Control of Wheeled Mobile Robots

1993 ◽  
Vol 26 (2) ◽  
pp. 893-896
Author(s):  
S. Patarinski ◽  
H. Van Brussel ◽  
H. Thielemans
Keyword(s):  
Mobile Robots ◽  
Tracking Control ◽  
Path Tracking ◽  
Wheeled Mobile Robots

Path tracking control of autonomous agricultural mobile robots

2007 ◽  
Vol 8 (10) ◽  
pp. 1596-1603 ◽  
Author(s):  
Zhong-xiang Zhu ◽  
Jun Chen ◽  
Toyofumi Yoshida ◽  
Ryo Torisu ◽  
Zheng-he Song ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Tracking Control ◽  
Path Tracking
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