Trajectory tracking control for wheeled mobile robots based on nonlinear disturbance observer with extended Kalman filter

DOI10.1016/J.JFRANKLIN.2020.04.043zbMath1448.93227OpenAlexW3039277762MaRDI QIDQ2005288

Li Li, Yuanqing Xia, Tianqi Wang, Ning Zhou

Publication date: 7 October 2020

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2020.04.043

zbMATH Keywords

extended Kalman filtertrajectory trackingnonlinear disturbance observernon-holonomic wheeled mobile robot

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Automated systems (robots, etc.) in control theory (93C85) Stochastic stability in control theory (93E15) Observers (93B53)

Related Items (5)

Model predictive tracking control with disturbance compensation for wheeled mobile robots in an environment with obstacles ⋮ Approximate solution of small-time control synthesis problem based on linearization ⋮ Distributed set-membership estimation for state-saturated systems with mixed time-delays via a dynamic event-triggered scheme ⋮ Disturbance observer-based sliding mode control for consensus tracking of chaotic nonlinear multi-agent systems ⋮ Adaptive resilient containment control for nonlower triangular multiagent systems with time-varying delay and sensor faults

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