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Sampled-Data Circular Path Following Control of Four Wheeled Mobile Robots With Steering Angle Saturation
Sampled-data circular path following control of four wheeled mobile robots with steering angle saturation is considered. The line-of-sight guidance algorithm is used to drive a tracking error dynamics and sampled-data path following control is formulated as sampled-data stabilization of a tracking e...
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Published in: | IEEE control systems letters 2024, Vol.8, p.706-711 |
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Main Authors: | , , |
Format: | Article |
Language: | English |
Subjects: | |
Citations: | Items that this one cites |
Online Access: | Get full text |
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Summary: | Sampled-data circular path following control of four wheeled mobile robots with steering angle saturation is considered. The line-of-sight guidance algorithm is used to drive a tracking error dynamics and sampled-data path following control is formulated as sampled-data stabilization of a tracking error dynamics. Both single-rate and multi-rate sampled-data steering angle controllers are designed on the basis of the Euler model of a tracking error dynamics. The closed-loop tracking error dynamics given by designed controllers is represented by a cascade system with the disturbance input induced by steering angle saturation. Then we show that designed controllers achieve sampled-data circular path following control in the semiglobally practically input-to-state stable sense. Simulation and experimental results are also given to show the effectiveness of designed controllers. |
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ISSN: | 2475-1456 2475-1456 |
DOI: | 10.1109/LCSYS.2024.3401738 |