Object
Title: Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system
Creator:
Michałek, Maciej ; Dutkiewicz, Piotr ; Kiełczewski, Marcin ; Pazderski, Dariusz
Date:
Resource Type:
Contributor:
Subtitle:
Group publication title:
Abstract:
The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip phenomena. ; The paper includes a control law design description, stability and convergence analysis of a closed-loop system, and practical verification of the proposed control concept. The experimental results illustrate control quality obtained on a laboratory setup equipped with vision feedback, where the Kalman filter algorithm was used in order to practically estimate skid-slip components.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
DOI:
Pages:
Source:
AMCS, volume 19, number 4 (2009) ; click here to follow the link
Language:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Digital Library of Zielona Góra > Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Digital Library of Zielona Góra > Repository > Types of work > Articles
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2009)
Last modified:
Apr 10, 2024
In our library since:
Apr 10, 2024
Number of object content hits:
12
All available object's versions:
https://zbc.uz.zgora.pl/publication/88584
Show description in RDF format:
Show description in OAI-PMH format:
-
International Journal of Applied Mathematics and Computer Science (AMCS)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 25 (2015)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 24 (2014)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 23 (2013)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 22 (2012)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 21 (2011)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 20 (2010)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 19 (2009)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 19, number 1 (2009)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 19, number 2 (2009)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 19, number 3 (2009)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 19, number 4 (2009)
- Approximation of Jacobian inverse kinematics algorithms
- Motion planning and feedback control for a unicycle in a way point following task: The VFO approach
- Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system
- On path following control of nonholonomic mobile manipulators
- Simultaneous localization and mapping: A feature-based probabilistic approach
- Controllability of nonlinear impulsive Ito type stochastic systems
- Time-optimal control of infinite order hyperbolic systems with time delays
- Zeros in linear systems with time delay in state
- Indirect adaptive controller based on a self-structuring fuzzy system for nonlinear modeling and control
- Recursive identification algorithm for dynamic systems with output backlash and its convergence
- A matrix inequality based design method for consensus problems in multi-agent systems
- Synthesis of finite state machines for CPLDs
- The steady-state impedance operator of a linear periodically time-varying one-port network and its determination
- Some remarks on evaluating the quality of the multiple sequence alignment based on the BAliBASE benchmark
- An automatic segmentation method for scanned images of wheat root systems with dark discolourations
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 19, number 1 (2009)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 18 (2008)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 17 (2007)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 16 (2006)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 15 (2005)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 13 (2003)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 12 (2002)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 11 (2001)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 10 (2000)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 9 (1999)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 8 (1998)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 7 (1997)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 6 (1996)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 5 (1995)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 4 (1994)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 3 (1993)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 2 (1992)
-
International Journal of Applied Mathematics and Computer Science (AMCS),volume 1 (1991)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
| Edition name | Date |
|---|---|
| Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system | Apr 10, 2024 |
