Kinematic path-following control of a mobile robot under bounded angular velocity error
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SCOPUS
- Title
- Kinematic path-following control of a mobile robot under bounded angular velocity error
- Authors
- Seo, K; Lee, JS
- Date Issued
- 2006-01
- Publisher
- VSP BV
- Abstract
- This paper proposes a robust path-following control method of a kinematic mobile robot system subject to bounded angular velocity error. The angular velocity error usually arises from imperfect performance of the dynamic control system. Given a kinematic model of the mobile robot system with bounded angular velocity error, we present a stable and robust path-following controller which is based on the sliding mode control technique and prove that the path-following errors (the lateral distance and orientation error) are ultimately bounded. In addition, the safety margin of the lateral distance error is defined, which is useful for higher-level path-planning tasks. The feasibility of the proposed controller has been demonstrated through simulation tests.
- Keywords
- wheeled mobile robots; path following; non-holonomic constraints; sliding mode control; robust control; CONSTRAINTS
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/24165
- DOI
- 10.1163/156855306775275512
- ISSN
- 0169-1864
- Article Type
- Article
- Citation
- ADVANCED ROBOTICS, vol. 20, no. 1, page. 1 - 23, 2006-01
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