Robust finite-time tracking control of nonholonomic mobile robots without velocity measurements

The problem of robust finite-time trajectory tracking of nonholonomic mobile robots with unmeasurable velocities is studied. The contributions of the paper are that: first, in the case that the angular velocity of the mobile robot is unmeasurable, a composite controller including the observer-based...

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Bibliographic Details
Published in:International journal of control 2016-02, Vol.89 (2), p.411-423
Main Authors: Shi, Shang, Yu, Xin, Khoo, Suiyang
Format: Article
Language:English
Subjects:
Angular velocity
Disturbances
finite-time tracking
Mathematical analysis
mobile robot
Nonholonomic
Robots
Tracking
Tracking control
Tracking errors
Trajectories
unmeasurable velocity
Velocity
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Summary:The problem of robust finite-time trajectory tracking of nonholonomic mobile robots with unmeasurable velocities is studied. The contributions of the paper are that: first, in the case that the angular velocity of the mobile robot is unmeasurable, a composite controller including the observer-based partial state feedback control and the disturbance feed-forward compensation is designed, which guarantees that the tracking errors converge to zero in finite time. Second, if the linear velocity as well as the angular velocity of mobile robot is unmeasurable, with a stronger constraint, the finite-time trajectory tracking control of nonholonomic mobile robot is also addressed. Finally, the effectiveness of the proposed control laws is demonstrated by simulation.
ISSN:0020-7179
1366-5820
DOI:10.1080/00207179.2015.1079735