Tracking control of unicycle-modeled mobile robots using a saturation feedback controller

被引：318

作者：

Lee, TC ^{[1
]}

Song, KT

Lee, CH

Teng, CC

机构：

[1] Ming Hsin Inst Technol, Dept Elect Engn, Hsinchu 300, Taiwan

[2] Natl Chiao Tung Univ, Dept Elect & Comp Engn, Hsinchu 300, Taiwan

[3] Lunghwa Inst Technol, Dept Elect Engn, Taoyuan 333, Taiwan

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2001年 / 9卷 / 02期

关键词：

mobile robots; motion control; nonlinear systems; stability; time-varying systems; tracking;

D O I：

10.1109/87.911382

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The tracking control problem with saturation constraint for a class of unicycle-modeled mobile robots is formulated and solved using the backstepping technique and the idea from the LaSalle's invariance principle. A global result is presented in which several constraints on the linear and the angular velocities of the mobile robot from recent literature are dropped. The proposed controller can simultaneously solve both the tracking and regulation problems of a unicycle-modeled mobile robot. With the proposed control laws, the robot can globally follow any path specified by a straight line, a circle or a path approaching the origin using a single controller. As demonstrated, the circular and parallel parking control problem are solved using the proposed controller. Computer simulations are presented which confirm the effectiveness of the proposed tracking control law Practical experimental results validate the simulations.

引用

页码：305 / 318

页数：14

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