VFO control design for a mobile robot in the presence of time and input constraint
[ 1 ] Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ 2 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ SzD ] doktorant ze Szkoły Doktorskiej | [ P ] pracownik
[2.2] Automatyka, elektronika, elektrotechnika i technologie kosmiczne
2023
rozdział w monografii naukowej / referat
angielski
EN This paper presents a solution to the set-point control problem for nonholonomic mobile robots in the presence of time and control input constraints. We consider the kinematics of a unicycle mobile robot, in which the constraints on the control inputs are longitudinal and angular velocity limitations, while the time constraints impose an upper bound on a settling time for stabilization errors. We show a solution based on the Vector-Field-Orientation (VFO) methodology, which is characterized by non-oscillatory transient states and well-predictable time evolution of these states. Formally derived upper bounds of settling time for configuration errors are verified by results of numerical simulations and experimental results obtained in a fast prototyping system.
11.09.2023
356 - 361
20
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