Paper Info
Title
Tracking control of unicycle-modeled mobile robots using a saturation feedback controller
Abstract
The tracking control problem with saturation constraint for a class of unicycle-modeled mobile robots is formulated and solved using the backstepping technique and the idea from the LaSalle's invariance principle. A global result is presented in which several constraints on the linear and the angular velocities of the mobile robot from recent literature are dropped. The proposed controller can simultaneously solve both the tracking and regulation problems of a unicycle-modeled mobile robot. With the proposed control laws, the robot can globally follow any path specified by a straight line, a circle or a path approaching the origin using a single controller. As demonstrated, the circular and parallel parking control problem are solved using the proposed controller. Computer simulations are presented which confirm the effectiveness of the proposed tracking control law. Practical experimental results validate the simulations
Year
DOI
Venue
2001
10.1109/87.911382
IEEE Trans. Contr. Sys. Techn.
Keywords
DocType
Volume
Mobile robots,Adaptive control,Motion control,Open loop systems,Motion planning,Robot control,Tracking,Wheels,Control systems,Associate members
Journal
9
Issue
ISSN
Citations 
2
1063-6536
115
PageRank 
References 
Authors
9.83
23
4
Search Limit
100115
Name
Order
Citations
PageRank
Ti-chung Lee124729.18
Kai-Tai Song260355.56
Ching-Hung Lee359742.31
Ching-Cheng Teng447231.50