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Authors: Bálint Kiss and Emese Szádeczky-Kardoss

Affiliation: Budapest University of Technology and Economics, Hungary

Keyword(s): Time-scaling, wheeled mobile robot, flatness, motion planning, tracking control.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Nonlinear Signals and Systems ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: This paper presents a time-scaling based control strategy of the kinematic model of wheeled mobile robots with one input which is the steering angle. The longitudinal velocity of the mobile robot cannot be influenced by the controller but can be measured. Using an on-line time-scaling, driven by the longitudinal velocity of the robot and its time derivatives, one can achieve exponential tracking of any sufficiently smooth reference trajectory with non-vanishing velocity. The price to pay is the modification of the traveling time along the reference trajectory according to the time-scaling. The measurement of the time derivatives of the velocity is no longer necessary if the tracking controller is designed to the linearized tracking error dynamics.

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Paper citation in several formats:
Kiss, B. and Szádeczky-Kardoss, E. (2007). TRACKING CONTROL OF WHEELED MOBILE ROBOTS WITH A SINGLE STEERING INPUT - Control Using Reference Time-Scaling. In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-972-8865-84-9; ISSN 2184-2809, SciTePress, pages 86-93. DOI: 10.5220/0001644200860093

@conference{icinco07,
author={Bálint Kiss. and Emese Szádeczky{-}Kardoss.},
title={TRACKING CONTROL OF WHEELED MOBILE ROBOTS WITH A SINGLE STEERING INPUT - Control Using Reference Time-Scaling},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2007},
pages={86-93},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001644200860093},
isbn={978-972-8865-84-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - TRACKING CONTROL OF WHEELED MOBILE ROBOTS WITH A SINGLE STEERING INPUT - Control Using Reference Time-Scaling
SN - 978-972-8865-84-9
IS - 2184-2809
AU - Kiss, B.
AU - Szádeczky-Kardoss, E.
PY - 2007
SP - 86
EP - 93
DO - 10.5220/0001644200860093
PB - SciTePress