Nonlinear control for tracking and obstacle avoidance of a wheeled mobile robot with nonholonomic constraint

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dc.contributor.authorYang, H.
dc.contributor.authorFan, X.
dc.contributor.authorShi, P.
dc.contributor.authorHua, C.
dc.date.issued2016
dc.description.abstractThis 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.
dc.description.statementofresponsibilityHongjiu Yang, Xiaozhao Fan, Peng Shi, and Changchun Hua
dc.identifier.citationIEEE Transactions on Control Systems Technology, 2016; 24(2):741-746
dc.identifier.doi10.1109/TCST.2015.2457877
dc.identifier.issn1063-6536
dc.identifier.issn1558-0865
dc.identifier.orcidShi, P. [0000-0001-6295-0405] [0000-0001-8218-586X] [0000-0002-0864-552X] [0000-0002-1358-2367] [0000-0002-5312-5435]
dc.identifier.urihttp://hdl.handle.net/2440/99219
dc.language.isoen
dc.publisherIEEE
dc.relation.granthttp://purl.org/au-research/grants/arc/DP140102180
dc.relation.granthttp://purl.org/au-research/grants/arc/LP140100471
dc.relation.granthttp://purl.org/au-research/grants/arc/LE150100079
dc.rights© 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
dc.source.urihttps://doi.org/10.1109/tcst.2015.2457877
dc.subjectExtended state observer; nonholonomic constraint; obstacle avoidance; trajectory tracking; wheeled mobile robot
dc.titleNonlinear control for tracking and obstacle avoidance of a wheeled mobile robot with nonholonomic constraint
dc.typeJournal article
pubs.publication-statusPublished

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