An approach to path control design for nonholonomic unicycle-type mobile robots based on linear control theory
In this paper, a path following controller for nonholonomic unicycle-type mobile robots is presented. First, a kinematic model in error coordinates appropriate for path following applications is developed. Using the classical linear control theory, a feedback path control based on distance-only meas...
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| creator | Petrov, Plamen Kralov, Ivan |
| description | In this paper, a path following controller for nonholonomic unicycle-type mobile robots is presented. First, a kinematic model in error coordinates appropriate for path following applications is developed. Using the classical linear control theory, a feedback path control based on distance-only measurements is proposed. The stability of the closed-loop system is analyzed and the performance of the control system is studied for rectilinear and circular path with unknown curvature. Numerical simulations and experiments are conducted to validate the synthesized feedback path following control scheme. |
| doi_str_mv | 10.1063/5.0041616 |
| format | Conference Proceeding |
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First, a kinematic model in error coordinates appropriate for path following applications is developed. Using the classical linear control theory, a feedback path control based on distance-only measurements is proposed. The stability of the closed-loop system is analyzed and the performance of the control system is studied for rectilinear and circular path with unknown curvature. 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Numerical simulations and experiments are conducted to validate the synthesized feedback path following control scheme.</description><subject>Control stability</subject><subject>Control systems</subject><subject>Control theory</subject><subject>Feedback control</subject><subject>Linear control</subject><subject>Mathematical models</subject><subject>Robot control</subject><subject>Stability analysis</subject><subject>Trajectory planning</subject><issn>0094-243X</issn><issn>1551-7616</issn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2021</creationdate><recordtype>conference_proceeding</recordtype><recordid>eNp9kE1LAzEYhIMoWKsH_0HAm7A1yW6ym2MpfkHBi4K3kM0mbso275qkQv-9Ky168zRzeJhhBqFrShaUiPKOLwipqKDiBM0o57SoJ3-KZoTIqmBV-X6OLlLaEMJkXTczFJYB63GMoE2PM-BR5x4bCDnCgDub_EfADiIOEHoYIMDWG7wL3uzNYIu8Hy3eQusHiyO0kBNudbIdhoAHH6yOv1m5txD3l-jM6SHZq6PO0dvD_evqqVi_PD6vlutiZE2Ti65ttGklp6LrGiE7JqzUlFvpmGWGG6MrJx21hghnhaWGkUZXJW-Nk5Uuy3KObg6507LPnU1ZbWAXw1SpWCWbmoia1RN1e6CS8VlnD0GN0W913CtK1M-fiqvjn__BXxD_QDV2rvwG8Wl48g</recordid><startdate>20210308</startdate><enddate>20210308</enddate><creator>Petrov, Plamen</creator><creator>Kralov, Ivan</creator><general>American Institute of Physics</general><scope>8FD</scope><scope>H8D</scope><scope>L7M</scope></search><sort><creationdate>20210308</creationdate><title>An approach to path control design for nonholonomic unicycle-type mobile robots based on linear control theory</title><author>Petrov, Plamen ; Kralov, Ivan</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-p288t-db8acb9516dd869d26e9a15e9f2e2c5cca4f9f1ec06fe6e1c208a435bcf94a333</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2021</creationdate><topic>Control stability</topic><topic>Control systems</topic><topic>Control theory</topic><topic>Feedback control</topic><topic>Linear control</topic><topic>Mathematical models</topic><topic>Robot control</topic><topic>Stability analysis</topic><topic>Trajectory planning</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Petrov, Plamen</creatorcontrib><creatorcontrib>Kralov, Ivan</creatorcontrib><collection>Technology Research Database</collection><collection>Aerospace Database</collection><collection>Advanced Technologies Database with Aerospace</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Petrov, Plamen</au><au>Kralov, Ivan</au><au>Venkov, George</au><au>Pasheva, Vesela</au><au>Popivanov, Nedyu</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>An approach to path control design for nonholonomic unicycle-type mobile robots based on linear control theory</atitle><btitle>AIP conference proceedings</btitle><date>2021-03-08</date><risdate>2021</risdate><volume>2333</volume><issue>1</issue><issn>0094-243X</issn><eissn>1551-7616</eissn><coden>APCPCS</coden><abstract>In this paper, a path following controller for nonholonomic unicycle-type mobile robots is presented. First, a kinematic model in error coordinates appropriate for path following applications is developed. Using the classical linear control theory, a feedback path control based on distance-only measurements is proposed. The stability of the closed-loop system is analyzed and the performance of the control system is studied for rectilinear and circular path with unknown curvature. Numerical simulations and experiments are conducted to validate the synthesized feedback path following control scheme.</abstract><cop>Melville</cop><pub>American Institute of Physics</pub><doi>10.1063/5.0041616</doi><tpages>7</tpages><oa>free_for_read</oa></addata></record> |
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| ispartof | AIP conference proceedings, 2021, Vol.2333 (1) |
| issn | 0094-243X 1551-7616 |
| language | eng |
| recordid | cdi_scitation_primary_10_1063_5_0041616 |
| source | AIP Journals Complete |
| subjects | Control stability Control systems Control theory Feedback control Linear control Mathematical models Robot control Stability analysis Trajectory planning |
| title | An approach to path control design for nonholonomic unicycle-type mobile robots based on linear control theory |
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