You are not logged in.

Robust finite-time tracking control of nonholonomic mobile robots without velocity measurements

Shi, Shang, Yu, Xin and Khoo, Suiyang 2016, Robust finite-time tracking control of nonholonomic mobile robots without velocity measurements, International journal of control, vol. 89, no. 2, pp. 411-423, doi: 10.1080/00207179.2015.1079735.

Attached Files
Name Description MIMEType Size Downloads

Title Robust finite-time tracking control of nonholonomic mobile robots without velocity measurements
Author(s) Shi, Shang
Yu, Xin
Khoo, Suiyang
Journal name International journal of control
Volume number 89
Issue number 2
Start page 411
End page 423
Total pages 13
Publisher Taylor & Francis
Place of publication Oxford, Eng.
Publication date 2016
ISSN 0020-7179
1366-5820
Keyword(s) nonholonomic
mobile robot
finite-time tracking
unmeasurable velocity
Summary The problem of robust finite-time trajectory tracking of nonholonomic mobile robots with unmeasurable velocities is studied. The contributions of the paper are that: first, in the case that the angular velocity of the mobile robot is unmeasurable, a composite controller including the observer-based partial state feedback control and the disturbance feed-forward compensation is designed, which guarantees that the tracking errors converge to zero in finite time. Second, if the linear velocity as well as the angular velocity of mobile robot is unmeasurable, with a stronger constraint, the finite-time trajectory tracking control of nonholonomic mobile robot is also addressed. Finally, the effectiveness of the proposed control laws is demonstrated by simulation.
Language eng
DOI 10.1080/00207179.2015.1079735
Field of Research 010204 Dynamical Systems in Applications
090602 Control Systems, Robotics and Automation
0906 Electrical and Electronic Engineering
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1 Refereed article in a scholarly journal
ERA Research output type C Journal article
Copyright notice ©2015, Taylor & Francis
Persistent URL http://hdl.handle.net/10536/DRO/DU:30078939

Document type: Journal Article
Collection: School of Engineering
Connect to link resolver
 
Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved.

Versions
Version Filter Type
Citation counts: TR Web of Science Citation Count  Cited 5 times in TR Web of Science
Scopus Citation Count Cited 5 times in Scopus
Google Scholar Search Google Scholar
Access Statistics: 23 Abstract Views, 2 File Downloads  -  Detailed Statistics
Created: Mon, 30 Nov 2015, 14:48:49 EST

Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.