Please use this identifier to cite or link to this item:
https://hdl.handle.net/2440/99219
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Type: | Journal article |
Title: | Nonlinear control for tracking and obstacle avoidance of a wheeled mobile robot with nonholonomic constraint |
Author: | Yang, H. Fan, X. Shi, P. Hua, C. |
Citation: | IEEE Transactions on Control Systems Technology, 2016; 24(2):741-746 |
Publisher: | IEEE |
Issue Date: | 2016 |
ISSN: | 1063-6536 1558-0865 |
Statement of Responsibility: | Hongjiu Yang, Xiaozhao Fan, Peng Shi, and Changchun Hua |
Abstract: | This brief presents a novel control scheme for some problems on tracking and obstacle avoidance of a wheeled mobile robot with nonholonomic constraint. An extended state observer is introduced to estimate the unknown disturbances and velocity information of the wheeled mobile robot. A nonlinear controller is designed to achieve tracking target and obstacle avoidance in complex environments. Note that tracking errors converge to a residual set outside the obstacle detection region. Moreover, the obstacle avoidance is also guaranteed inside the obstacle detection region. Simulation results are given to verify the effectiveness and robustness of the proposed design scheme. |
Keywords: | Extended state observer; nonholonomic constraint; obstacle avoidance; trajectory tracking; wheeled mobile robot |
Rights: | © 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. |
DOI: | 10.1109/TCST.2015.2457877 |
Grant ID: | http://purl.org/au-research/grants/arc/DP140102180 http://purl.org/au-research/grants/arc/LP140100471 http://purl.org/au-research/grants/arc/LE150100079 |
Published version: | http://dx.doi.org/10.1109/tcst.2015.2457877 |
Appears in Collections: | Aurora harvest 3 Electrical and Electronic Engineering publications |
Files in This Item:
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hdl_99219.pdf | Accepted version | 293.04 kB | Adobe PDF | View/Open |
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