Trajectory tracking of nonholonomic mobile robots by geometric control on special Euclidean group

2021 ◽  
Author(s):  
Xiaodong He ◽  
Zhiyong Geng
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Geometric Control ◽  
Euclidean Group ◽  
Nonholonomic Mobile Robots ◽  
Special Euclidean Group

Formation Control and Trajectory Tracking of Nonholonomic Mobile Robots

2018 ◽  
Vol 26 (6) ◽  
pp. 2250-2258 ◽  
Author(s):  
Akshit Saradagi ◽  
Vijay Muralidharan ◽  
Vishaal Krishnan ◽  
Sandeep Menta ◽  
Arun D. Mahindrakar
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Formation Control ◽  
Nonholonomic Mobile Robots

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.

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