Robust velocity learning and position tracking of nonholonomic mobile robots

2003 ◽  
Author(s):  
Tae-Yong Kuc ◽  
Seung-Min Baek
Keyword(s):  
Mobile Robots ◽  
Position Tracking ◽  
Nonholonomic Mobile Robots

Mobile Robot Tracking Control Based on Lyapunov Method

2012 ◽  
Vol 468-471 ◽  
pp. 1512-1515
Author(s):  
Qi Zhi Wang ◽  
Xiao Xia Wang
Keyword(s):  
Mobile Robots ◽  
Tracking Control ◽  
Lyapunov Method ◽  
Position Tracking ◽  
Control Law ◽  
Reference Trajectory ◽  
Nonholonomic Mobile Robots ◽  
Adaptive Controls ◽  
Control Rules ◽  
Robot Tracking

This paper presents adaptive control rules, in the dynamics level, for the nonholonomic mobile robots. Adaptive controls are derived for mobile robots, using Lyapunov stability technique, for tracking a reference trajectory and stability to a fixed posture. The presented control law can render system asymptotically stabilization at a desired target. The simulation shows it has good position tracking performance. This template explains and demonstrates how to prepare your camera-ready paper for Trans Tech Publications. The best is to read these instructions and follow the outline of this text.

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

scholarly journals Finite-Time Switching Control of Nonholonomic Mobile Robots for Moving Target Tracking Based on Polar Coordinates

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Hua Chen ◽  
Shen Xu ◽  
Lulu Chu ◽  
Fei Tong ◽  
Lei Chen
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Control Method ◽  
Tracking Error ◽  
Switching Control ◽  
Polar Coordinates ◽  
Control Law ◽  
Moving Target ◽  
Nonholonomic Mobile Robots ◽  
Time Switching

In this paper, finite-time tracking problem of nonholonomic mobile robots for a moving target is considered. First of all, polar coordinates are used to characterize the distance and azimuth between the moving target and the robot. Then, based on the distance and azimuth transported from the sensor installed on the robot, a finite-time tracking control law is designed for the nonholonomic mobile robot by the switching control method. Rigorous proof shows that the tracking error converges to zero in a finite time. Numerical simulation demonstrates the effectiveness of the proposed control method.

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