Trajectory tracking of wheeled mobile robots using only Cartesian position measurements

DOI10.1016/J.AUTOMATICA.2021.109756MaRDI QIDQ2065160zbMATH OpenOpenAlexFDO

Authors Javier Pliego-Jiménez, R. Martínez-Clark, C. Cruz-Hernández, A. Arellano-Delgado

Publication date 7 January 2022

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.automatica.2021.109756

zbMATH Keywords

nonlinear controlmobile robotsnonholonomic constraintsnonlinear observers

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Feedback control (93B52) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Observers (93B53)

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Cites work

• scientific article; zbMATH DE number 1078637 (Why is no real title available?)
• Adaptive output feedback tracking control of a nonholonomic mobile robot
• An observer-controller combination for a unicycle mobile robot
• Discontinuous control of nonholonomic systems
• Exponential stabilization of mobile robots with nonholonomic constraints
• Nonholonomic multibody mobile robots: controllability and motion planning in the presence of obstacles
• On dynamic feedback linearization
• Orientation-error observer-based tracking control of nonholonomic mobile robots
• Robust finite-time tracking control of nonholonomic mobile robots without velocity measurements
• Saturated stabilization and tracking of a nonholonomic mobile robot
• Tracking control of mobile robots: A case study in backstepping
• Trajectory tracking for a wheeled mobile robot using a vision based positioning system and an attitude observer

Cited in

(14)

• Leader-follower formation control of Euler-Lagrange systems with limited field-of-view and saturating actuators: a case study for tractor-trailer wheeled mobile robots
• Dynamics modeling and trajectory tracking control of a life support robot using sliding-mode control with extended state observer
• A system decomposition method for region tracking control of a non-holonomic mobile robot with dynamic parameter uncertainties
• Output feedback trajectory tracking control of wheeled mobile robots with position measurements
• Robust tracking control of wheeled mobile robots with parameter uncertainties and only target's position measurement
• On the attitude estimation of nonholonomic wheeled mobile robots
• A prescribed performance PID control of robotic cars with only posture measurements considering path curvature
• Tracking control for mobile robots considering the dynamics of all their subsystems: experimental implementation
• An observer-controller combination for a unicycle mobile robot
• Measurement-based method for nonholonomic mobile vehicles with obstacle avoidance
• Trajectory tracking control of nonholonomic wheeled mobile robots using only measurements for position and velocity
• scientific article; zbMATH DE number 1931050 (Why is no real title available?)
• Discussion on: ``Trajectory tracking for a wheeled mobile robot using a vision based positioning system and a attitude observer
• Trajectory tracking for a wheeled mobile robot using a vision based positioning system and an attitude observer

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