Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system

Maciej Michałek; Piotr Dutkiewicz; Marcin Kiełczewski; Dariusz Pazderski

International Journal of Applied Mathematics and Computer Science (2009)

  • Volume: 19, Issue: 4, page 547-559
  • ISSN: 1641-876X

Abstract

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The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip phenomena. The paper includes a control law design description, stability and convergence analysis of a closed-loop system, and practical verification of the proposed control concept. The experimental results illustrate control quality obtained on a laboratory setup equipped with vision feedback, where the Kalman filter algorithm was used in order to practically estimate skid-slip components.

How to cite

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Maciej Michałek, et al. "Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system." International Journal of Applied Mathematics and Computer Science 19.4 (2009): 547-559. <http://eudml.org/doc/207954>.

@article{MaciejMichałek2009,
abstract = {The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip phenomena. The paper includes a control law design description, stability and convergence analysis of a closed-loop system, and practical verification of the proposed control concept. The experimental results illustrate control quality obtained on a laboratory setup equipped with vision feedback, where the Kalman filter algorithm was used in order to practically estimate skid-slip components.},
author = {Maciej Michałek, Piotr Dutkiewicz, Marcin Kiełczewski, Dariusz Pazderski},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {differentially driven mobile robot; skid-slip compensation; trajectory tracking; vector fields},
language = {eng},
number = {4},
pages = {547-559},
title = {Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system},
url = {http://eudml.org/doc/207954},
volume = {19},
year = {2009},
}

TY - JOUR
AU - Maciej Michałek
AU - Piotr Dutkiewicz
AU - Marcin Kiełczewski
AU - Dariusz Pazderski
TI - Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system
JO - International Journal of Applied Mathematics and Computer Science
PY - 2009
VL - 19
IS - 4
SP - 547
EP - 559
AB - The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip phenomena. The paper includes a control law design description, stability and convergence analysis of a closed-loop system, and practical verification of the proposed control concept. The experimental results illustrate control quality obtained on a laboratory setup equipped with vision feedback, where the Kalman filter algorithm was used in order to practically estimate skid-slip components.
LA - eng
KW - differentially driven mobile robot; skid-slip compensation; trajectory tracking; vector fields
UR - http://eudml.org/doc/207954
ER -

References

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