Advertisement

On Optimal Selection of Coefficients of Path Following Controller for a Wheeled Robot with Constrained Control

  • Alexander Pesterev
Conference paper
Part of the Communications in Computer and Information Science book series (CCIS, volume 974)

Abstract

Stabilization of motion of a wheeled robot with constrained control resource by means of a continuous feedback linearizing the closed-loop system in a neighborhood of the target path is considered. The problem of selection of the feedback coefficients is set and discussed. In the case of a straight target path, the desired feedback coefficients are defined to be those that result in the partition of the phase plane into two invariant sets of the nonlinear closed-loop system while ensuring the greatest asymptotic rate of the deviation decrease. A hybrid control law is proposed that ensures the desired properties of the phase portrait and minimal overshooting and is stable to noise. The proposed techniques are extended to the case of circular target paths.

Keywords

Wheeled robot Path following problem Saturated control Optimal feedback coefficients 

References

  1. 1.
    Thuilot, B., Cariou, C., Martinet, P., Berducat, M.: Automatic guidance of a farm tractor relying on a single CP-DGPS. Auton. Robots 13, 53–61 (2002)CrossRefGoogle Scholar
  2. 2.
    Thuilot, B., Lenain, R., Martinet, P., Cariou, C.: Accurate GPS-based guidance of agricultural vehicles operating on slippery grounds. In: Liu, J.X. (ed.) Focus on Robotics Research. Nova Science, New York (2005)Google Scholar
  3. 3.
    Pesterev, A.V., Rapoport, L.B.: Canonical representation of the path following problem for wheeled robots. Autom. Remote Control 74(5), 785–801 (2013)MathSciNetCrossRefGoogle Scholar
  4. 4.
    De Luca, A., Oriolo, G., Samson, C.: Feedback control of a nonholonomic car-like robot. In: Laumond, J.-P. (ed.) Robot Motion Planning and Control, pp. 170–253. Springer, New York (1998)Google Scholar
  5. 5.
    Pesterev, A.V.: Synthesis of a stabilizing control for a wheeled robot following a curvilinear path. Autom. Remote Control 73(7), 1134–1144 (2012)MathSciNetCrossRefGoogle Scholar
  6. 6.
    Morin, P., Samson, C.: Motion control of wheeled mobile robots. In: Siciliano, B., Khatib, O. (eds.) Springer Handbook of Robotics. Springer, Heidelberg (2008).  https://doi.org/10.1007/978-3-540-30301-5_35CrossRefGoogle Scholar
  7. 7.
    Rapoport, L.B.: Estimation of attraction domain in a wheeled robot control problem. Autom. Remote Control 67(9), 1416–1435 (2006)MathSciNetCrossRefGoogle Scholar
  8. 8.
    Pesterev, A.: Stabilizing control for a wheeled robot following a curvilinear path. In: Proceedings of the 10th International IFAC Symposium on Robot Control, Dubrovnik, pp. 643–648 (2012)Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Institute of Control SciencesMoscowRussia

Personalised recommendations