Tracking control of unicycle-modeled mobile robots using a saturation feedback controller
IEEE Transactions on Control Systems TechnologyPublished 1 March 2001
Ti-Chung Lee, Kai‐Tai Song, Ching‐Hung Lee, Ching‐Cheng Teng
Citations380
SJR quartileQ1
SJR score1.68
SNIP2.00
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TL;DR
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, and computer simulations confirm the effectiveness of the proposed tracking control law.
Abstract
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.
Keywords
Computer ScienceEngineering
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