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Kinematic path-following control of a mobile robot under bounded angular velocity error.
- Source :
-
Advanced Robotics . 2006, Vol. 20 Issue 1, p1-23. 23p. 2 Diagrams, 6 Graphs. - Publication Year :
- 2006
-
Abstract
- This paper proposes a robust path-following control method of a kinematic mobile robot system subject to bounded angular velocity error. The angular velocity error usually arises from imperfect performance of the dynamic control system. Given a kinematic model of the mobile robot system with bounded angular velocity error, we present a stable and robust path-following controller which is based on the sliding mode control technique and prove that the path-following errors (the lateral distance and orientation error) are ultimately bounded. In addition, the safety margin of the lateral distance error is defined, which is useful for higher-level path-planning tasks. The feasibility of the proposed controller has been demonstrated through simulation tests. [ABSTRACT FROM AUTHOR]
- Subjects :
- *ROBUST control
*KINEMATICS
*SPEED
*DYNAMICS
*MOBILE robots
*SLIDING mode control
Subjects
Details
- Language :
- English
- ISSN :
- 01691864
- Volume :
- 20
- Issue :
- 1
- Database :
- Academic Search Index
- Journal :
- Advanced Robotics
- Publication Type :
- Academic Journal
- Accession number :
- 19362424
- Full Text :
- https://doi.org/10.1163/156855306775275512