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2009 | 19 | 4 | 547-559
Tytuł artykułu

Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system

Treść / Zawartość
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip phenomena. The paper includes a control law design description, stability and convergence analysis of a closed-loop system, and practical verification of the proposed control concept. The experimental results illustrate control quality obtained on a laboratory setup equipped with vision feedback, where the Kalman filter algorithm was used in order to practically estimate skid-slip components.
Rocznik
Tom
19
Numer
4
Strony
547-559
Opis fizyczny
Daty
wydano
2009
otrzymano
2008-12-16
poprawiono
2009-07-13
Twórcy
  • Chair of Control and Systems Engineering, Poznań University of Technology, Piotrowo 3A, 60-965 Poznań, Poland
  • Chair of Control and Systems Engineering, Poznań University of Technology, Piotrowo 3A, 60-965 Poznań, Poland
  • Chair of Control and Systems Engineering, Poznań University of Technology, Piotrowo 3A, 60-965 Poznań, Poland
  • Chair of Control and Systems Engineering, Poznań University of Technology, Piotrowo 3A, 60-965 Poznań, Poland
Bibliografia
  • Bar-Shalom, Y., Li, X. R. and Kirubarajan, T. (2001). Estimation with Applications to Tracking and Navigation, WileyInterscience, New York, NY.
  • Corradini, M. L., Leo, T. and Orlando, G. (1999). Robust stabilization of a mobile robot violating the nonholonomic constraint via quasi-sliding modes, Proceedings of the American Control Conference, San Diego, CA, USA, pp. 39353939.
  • Dixon, W. E., Dawson, D. M. and Zergeroglu, E. (2000). Tracking and regulation control of a mobile robot system with kinematic disturbances: A variable structure-like approach, Journal of Dynamic Systems, Measurement and Control 122(4): 616-623.
  • Fukao, T., Miyasaka, S., Mori, K., Adachi, N. and Osuka, K. (2001). Active steering systems based on model reference adaptive nonlinear control, Proceedings of the IEEE Intelligent Transportation Systems Conference, Oakland, CA, USA, pp. 502-507.
  • Khalil, H. K. (2002). Nonlinear Systems. 3rd Edn., PrenticeHall, Upper Saddle River, NJ.
  • Kiencke, U. and Nielsen, L. (2000). Automotive Control Systems, Springer-Verlag, Berlin.
  • Lenain, R., Thuilot, B., Cariou, C. and Martinet, P. (2006). High accuracy path tracking for vehicles in presence od sliding: Application to farm vehicle automatic guidance for agricultural tasks, Autonomous Robots 21(1): 79-97.
  • Leroquais, W. and dAndrea Novel, B. (1996). Modeling and control of wheeled mobile robots not satisfying ideal velocity constraints: the unicycle case, Proceedings of the 35th Conference on Decision and Control, Kobe, Japan, pp. 1437-1442.
  • Lewis, A. D. (1999). When is a mechanical control system kinematic? Proceedings of the 38th Conference on Decision and Control, Phoenix, AZ, USA, pp. 1162-1167.
  • Lhomme-Desages, D., Grand, C. and Guinot, J.-C. (2007). Trajectory control of a four-wheel skid-steering vehicle over soft terrain using physical interaction model, Proceedings of the IEEE International Conference on Robotics and Automation, Rome, Italy, pp. 1164-1169.
  • Mi, C., Lin, H. and Zhang, Y. (2005). Iterative learning control of antilock braking of electric and hybrid vehicles, IEEE Transactions on Vehicular Technology 54(2): 486-494.
  • Michałek, M. (2007). VFO control for mobile vehicles in the presence of skid phenomenon, Robot Motion and Control 2007, Lecture Notes in Control and Information Sciences, Vol. 360, Springer, pp. 57-66.
  • Michałek, M. and Kozłowski, K. (2009). Vector-field-orientation feedback control method for a differentially-driven vehicle, IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2008.2010406, (in print).
  • Motte, I. and Campion, G. (2000). A slow manifold approach for the control of mobile robots not satisfying the kinematic constraints, IEEE Transactions on Robotics and Automation 16(6): 875-880.
  • Pacejka, H. B. (2002). Tyre and Vehicle Dynamics, Butterworth-Heinemann.
  • Pazderski, D. and Kozłowski, K. (2008). Trajectory tracking control of skid-steering robot-Experimental validation, Proceedings of the 17th World Congress, International Federation of Automatic Control, Seoul, Korea, pp. 5377-5382.
  • Peng, S.-T., Sheu, J.-J. and Chang, C.-C. (2004). On one approach to constraining wheel slip for the autonomus control of a 4ws/4wd, Proceedings of the International Conference on Control Applications, Taipei, Taiwan, pp. 1254-1259.
  • Wang, D. and Low, C. B. (2008). Modeling and analysis of skidding and slipping in wheeled mobile robots: Control design perspective, IEEE Transactions on Robotics 24(3): 676-687.
  • Wong, J. Y. (2001). Theory of Ground Vehicles, John Wiley & Sons, Inc., Ottawa.
  • Zong, Z., Zweiri, Y. H. and Seneviratne, L. D. (2006). Nonlinear observer for slip estimation of skid-steering vehicles, Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, FL, USA, pp. 1499-1504.
Typ dokumentu
Bibliografia
Identyfikatory
Identyfikator YADDA
bwmeta1.element.bwnjournal-article-amcv19i4p547bwm
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