Robust contour tracking of nonholonomic mobile robots via adaptive velocity field motion planning scheme

abstract

• SummaryThis paper aims at designing a contour tracking scheme based on an adaptive velocity field formulation, for the case of uncertain nonholonomic (differential drive) mobile robots, with its dynamic controller. First, to handle kinematic uncertainties that deviate the map of the velocity field into wheel velocities, a linear parameterization of the uncertain Jacobian operator is proposed to synthesize an adaptive kinematic controller that shapes correctly the velocity field. Then, a robust modelfree dynamic controller is proposed to compensate in finite time for uncertain dynamics and disturbances, enforcing the kinematic reference. Finally, a representative simulation study is discussed to show the reliability of the proposed scheme.

authors

• Munoz Vazquez, Aldo Jonathan

published proceedings

• INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING

author list (cited authors)

• Jonathan Munoz-Vazquez, A., Diego Sanchez-Torres, J., Parra-Vega, V., Sanchez-Orta, A., & Martinez-Reyes, F.

complete list of authors

• Jonathan Munoz-Vazquez, Aldo||Diego Sanchez-Torres, Juan||Parra-Vega, Vicente||Sanchez-Orta, Anand||Martinez-Reyes, Fernando

publisher

• Wiley  Publisher

published in

• INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING  Journal

keywords

• Adaptive Control
• Fault-tolerant Control
• Sliding Mode Control
• Velocity Field Control

Digital Object Identifier (DOI)

• 10.1002/acs.2996

start page

• 890

end page

• 899

volume

• 33

issue

• 6