Digital Library of Zielona Góra contains 9 272 digital objects
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:
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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
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DOI:
Pages:
Source:
AMCS, volume 19, number 4 (2009) ; click here to follow the link
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- 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:
Jul 14, 2025
In our library since:
Apr 10, 2024
Number of object content hits:
101
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/88584
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 19, number 1 (2009)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 19, number 2 (2009)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 19, number 3 (2009)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 19, number 4 (2009)
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| Edition name | Date |
|---|---|
| Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system | Jul 14, 2025 |
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