The planar motion with bounded derivative of the curvature and its suboptimal paths.
Three-parametric robot manipulators with parallel rotational axes
The paper deals with asymptotic motions of 3-parametric robot manipulators with parallel rotational axes. To describe them we use the theory of Lie groups and Lie algebras. An example of such motions are motions with the zero Coriolis accelerations. We will show that there are asymptotic motions with nonzero Coriolis accelerations. We introduce the notions of the Klein subspace, the Coriolis subspace and show their relation to asymptotic motions of robot manipulators. The asymptotic motions are...
Topology design for group consensus in directed multi-agent systems
In this paper, we investigate the grouping behavior of multi-agent systems by exploiting the graph structure. We propose a novel algorithm for designing a network from scratch which yields the desired grouping in a network of agents utilizing a consensus-based algorithm. The proposed algorithm is shown to be optimal in the sense that it consists of the minimum number of links. Furthermore, we examine the effect of adding new vertices and edges to the network on the number of groups formed in the...
Tracking an omnidirectional evader with a differential drive robot at a bounded variable distance
Tracking control algorithms for a laboratory aerodynamical system
The tracking control problem of a strongly nonlinear MIMO system is presented. The system shares some features with a helicopter, such as important interactions between the vertical and horizontal motions. The dedicated IO board allows for control, measurements and communication with a PC. The RTWT toolbox in the MATLAB environment is used to perform real-time experiments. The control task is to track a predefined reference trajectory. A mathematical model of the system, containing experimental...
Trajectory planning for nonholonomic mobile robot using extended Kalman filter.
Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system
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...
Two observer-based tracking algorithms for a unicycle mobile robot
A trajectory tracking problem for the three-dimensional kinematic model of a unicycle-type mobile robot is considered. It is assumed that only two of the tracking error coordinates are measurable. By means of cascaded systems theory we develop observers for each of the error coordinates and show the K-exponential convergence of the tracking error in combined closed-loop observer-controller systems. The results are illustrated with computer simulations.