Output Feedback Tracking Control of the Omni-Directional Robot Based on an Orientation Observer
详细信息 查看官网全文
- 英文论文题名：Output Feedback Tracking Control of the Omni-Directional Robot Based on an Orientation Observer
- 论文作者：Siyuan Li ; Yuxiang Guo ; Baoli Ma ; Wenjing Xie
- 英文论文作者：Siyuan Li ; Yuxiang Guo ; Baoli Ma ; Wenjing Xie ; The Seventh Research Division ; School of Automation Science and Electrical Engineering ; Beihang University ; School of Computer and Information Science ; Southwest University
- 年：2017
- 作者机构：The Seventh Research Division,School of Automation Science and Electrical Engineering,Beihang University;School of Computer and Information Science,Southwest University;
- 英文论文关键词：Nonlinear Observer ; Output Feedback Control ; Omni-Directional Robot ; Nonlinear Control
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：TP242
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：256k
- 原文格式：D
- 会议级别：全国
摘要
In this paper,we study the output feedback tracking control problem of omni-directional robots.Firstly,we construct an observer to estimate the value of unknown orientation of the robot through switching and event triggering strategies.Compared to present works,the velocity of the robot is only required persistently exciting,and hence can go through zero,meanwhile,the acceleration measurement of the robot is unneeded.Then,we design an output feedback tracking controller,guaranteeing that tracking errors asymptotically converge to zero.Finally,numerical simulations verify all obtained theoretical results.
In this paper,we study the output feedback tracking control problem of omni-directional robots.Firstly,we construct an observer to estimate the value of unknown orientation of the robot through switching and event triggering strategies.Compared to present works,the velocity of the robot is only required persistently exciting,and hence can go through zero,meanwhile,the acceleration measurement of the robot is unneeded.Then,we design an output feedback tracking controller,guaranteeing that tracking errors asymptotically converge to zero.Finally,numerical simulations verify all obtained theoretical results.
In this paper,we study the output feedback tracking control problem of omni-directional robots.Firstly,we construct an observer to estimate the value of unknown orientation of the robot through switching and event triggering strategies.Compared to present works,the velocity of the robot is only required persistently exciting,and hence can go through zero,meanwhile,the acceleration measurement of the robot is unneeded.Then,we design an output feedback tracking controller,guaranteeing that tracking errors asymptotically converge to zero.Finally,numerical simulations verify all obtained theoretical results.
引文
[1]Y.Liu,X.Wu,J.Zhu,et al,Omni-Directional Mobile Robot Controller Design by Trajectory Linearization,in Proceedings of the American Control Conference,2003:3423-3428.
[2]J.H.Kim,J.C.Lee,Dead-Reckoning Scheme for Wheeled Mobile Robots Moving on Curved Surfaces,Journal of Intelligent&Robotic Systems,79(2):211-220,2014.
[3]K.Abdulrahim,C.Hide,T.Moore,C.Hill,Aiding low cost inertia navigation with building heading for pedestrian navigation,Journal of Navigation,64(2):219-233,2011.
[4]Y.N.Korkishko,V.Fedorov,V.Prilutskii,et al,Strapdown inertial navigation systems based on fiber-optic gyroscopes,Gyroscopy and Navigation,5(4):195-204,2014.
[5]S.Simoncic,P.Podrzaj.Vision-based control of a line-tracing mobile robot,Computer Applications in Engineering Education,22(3):474-480,2014.
[6]N.Hadji,A.Rahmani,Observer for an omnidirectional mobile robot,in Proceedings of the 2010 Spring Simulation Multiconference,2010:216-222.
[7]C.H.Rodriguez,B.E.Aranda,Observer Based Trajectory Tracking for a Wheeled Mobile Robot,in Proceedings of the American Control Conference,2007:991-996.
[8]M.V.Velasco,B.E.Aranda,C.H.Rodriguez and J.S.Gonzalez,Trajectory Tracking for a Wheeled Mobile Robot Using a Vision Based Positioning System and an Attitude Observer,European Journal of Control,18(4):348-355,2012.
[9]B.Ma,Observer-based path following control of wheeled mobile robots,Control Theory and Applications,24(5):756-760,2007.
[10]L.Yan,B.Ma,Output feedback trajectory tracking control of wheeled mobile robots with position measurements,Control Theory and Applications,33(6):763-771,2016.
[11]Z.M.Bi,L.Wang,Dynamic control model of a cobot with three omni-wheels,Robotics and Computer-Integrated Manufacturing,26(6):558-563,2010.
[12]H.K.Khalil,Nonlinear System,Third Edition.Beijing:Publishing House of Electronics Industry,2012.
[13]Khoshnam Shojaei,Neural adaptive output feedback formation control of type(m,s)wheeled mobile robots,IET Control Theory&Applications,11(4):504-515,2017.
[2]J.H.Kim,J.C.Lee,Dead-Reckoning Scheme for Wheeled Mobile Robots Moving on Curved Surfaces,Journal of Intelligent&Robotic Systems,79(2):211-220,2014.
[3]K.Abdulrahim,C.Hide,T.Moore,C.Hill,Aiding low cost inertia navigation with building heading for pedestrian navigation,Journal of Navigation,64(2):219-233,2011.
[4]Y.N.Korkishko,V.Fedorov,V.Prilutskii,et al,Strapdown inertial navigation systems based on fiber-optic gyroscopes,Gyroscopy and Navigation,5(4):195-204,2014.
[5]S.Simoncic,P.Podrzaj.Vision-based control of a line-tracing mobile robot,Computer Applications in Engineering Education,22(3):474-480,2014.
[6]N.Hadji,A.Rahmani,Observer for an omnidirectional mobile robot,in Proceedings of the 2010 Spring Simulation Multiconference,2010:216-222.
[7]C.H.Rodriguez,B.E.Aranda,Observer Based Trajectory Tracking for a Wheeled Mobile Robot,in Proceedings of the American Control Conference,2007:991-996.
[8]M.V.Velasco,B.E.Aranda,C.H.Rodriguez and J.S.Gonzalez,Trajectory Tracking for a Wheeled Mobile Robot Using a Vision Based Positioning System and an Attitude Observer,European Journal of Control,18(4):348-355,2012.
[9]B.Ma,Observer-based path following control of wheeled mobile robots,Control Theory and Applications,24(5):756-760,2007.
[10]L.Yan,B.Ma,Output feedback trajectory tracking control of wheeled mobile robots with position measurements,Control Theory and Applications,33(6):763-771,2016.
[11]Z.M.Bi,L.Wang,Dynamic control model of a cobot with three omni-wheels,Robotics and Computer-Integrated Manufacturing,26(6):558-563,2010.
[12]H.K.Khalil,Nonlinear System,Third Edition.Beijing:Publishing House of Electronics Industry,2012.
[13]Khoshnam Shojaei,Neural adaptive output feedback formation control of type(m,s)wheeled mobile robots,IET Control Theory&Applications,11(4):504-515,2017.