Control of WMRs with dynamic models subject to bounded inputs

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1 Scopus citations

Abstract

The article addresses the tracking control problem of differentially driven nonholonomic Wheeled Mobile Robots (WMRs) whose nonlinear kinematic-dynamic equations of motion subject to bounded inputs. To overcome the difficulties arising from the constraints in the system and to avoid singular states, the potential for their appearance is common in this system, we implement sigmoid functions in the feedback loop. Also, since the speed variables (linear and angular) that enter the kinematic subsystem are not independent variables and are the result of the action of bounded forces/torques on the dynamic system, we present a special way of reconstructing them. Using the flatness property of the system, the article presents a control algorithm for tracking a time-parameterized path (a geometric path with an associated timing-law). The proposed control scheme allows us to present conditions on the required trajectory that, if they are met, the input signals satisfy the given restrictions and ensures convergence to the reference trajectory.

Original languageEnglish GB
Title of host publication2021 29th Mediterranean Conference on Control and Automation, MED 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages735-740
Number of pages6
ISBN (Electronic)9781665422581
DOIs
StatePublished - 2021
Event29th Mediterranean Conference on Control and Automation, MED 2021 - Bari, Puglia, Italy
Duration: 22 Jun 202125 Jun 2021

Publication series

Name2021 29th Mediterranean Conference on Control and Automation, MED 2021

Conference

Conference29th Mediterranean Conference on Control and Automation, MED 2021
Country/TerritoryItaly
CityBari, Puglia
Period22/06/2125/06/21

Keywords

  • Feedback loop
  • Tracking
  • Heuristic algorithms
  • Kinematics
  • Tools
  • Trajectory
  • Numerical models

ASJC Scopus subject areas

  • Decision Sciences (miscellaneous)
  • Engineering (miscellaneous)
  • Control and Optimization

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