Paper Info
Title
Path-following control of mobile robots in presence of uncertainties
Abstract
This paper presents, in detail, the implementation of a new control strategy, Kalman-based active observer controller (AOB), for the path following of wheeled mobile robots (WMRs) subject to nonholonomic constraints. This control strategy presents some particularities as being used in discrete mode, and being robust against uncertainties and disturbances such as the ones due to the use of the input-output feedback-linearization method in discrete mode, while it was developed to be used in continuous mode. The performance of the proposed control algorithm is verified via computer simulation, and is compared with other control strategies, such as pole placement controller (PPC) and PPC with a Kalman filter observer (CKF).
Year
DOI
Venue
2005
10.1109/TRO.2004.837240
IEEE Transactions on Robotics
Keywords
Field
DocType
Robot control,Mobile robots,Uncertainty,Robust control,Control systems,Sliding mode control,Motion control,Kinematics,Nonlinear systems,Wheelchairs
Robot control,Motion control,Control theory,Control theory,Kalman filter,Control engineering,Robust control,Observer (quantum physics),Nonholonomic system,Mathematics,Sliding mode control
Journal
Volume
Issue
ISSN
21
2
1552-3098
Citations 
PageRank 
References 
29
1.36
16
Authors
2
Name
Order
Citations
PageRank
Paulo Coelho1603.62
U. Nunes2827.38