کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
10326943 680428 2015 23 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Global output-feedback path-following control of unicycle-type mobile robots: A level curve approach
ترجمه فارسی عنوان
کنترل مسیر بازخورد جهانی-بازخورد پس از کنترل روبات های متحرک نوع: رویکرد منحنی سطح
کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
چکیده انگلیسی
This paper proposes a design of global output-feedback path-following controllers for unicycle-type mobile robots based on the recently developed level curve approach. The controllers are designed based on Lyapunov's direct and backstepping methods to force the position of the robot to satisfy the equation of the path and to move along the path tangentially at a desired linear velocity. An interlaced observer, which is a reduced-order observer plus an interlaced term, is designed to estimate the robot unmeasured velocities and disturbances. The observer design is based on a coordinate transformation that transforms the robot dynamics to a new form, which does not contain velocity quadratic terms. The interlaced term is determined during the control design to void difficulties due to observer errors and unbounded reference path derivatives. Simulations are included to illustrate the effectiveness of the proposed concept.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 74, Part A, December 2015, Pages 229-242
نویسندگان
,