Obiekt
Tytuł: Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system
Autor:
Michałek, Maciej ; Dutkiewicz, Piotr ; Kiełczewski, Marcin ; Pazderski, Dariusz
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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.
Wydawca:
Zielona Góra: Uniwersytet Zielonogórski
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Źródło:
AMCS, volume 19, number 4 (2009) ; kliknij tutaj, żeby przejść
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Prawa do dysponowania publikacją:
Biblioteka Uniwersytetu Zielonogórskiego
Kolekcje, do których przypisany jest obiekt:
- Repozytorium > Jednostki organizacyjne > Wydział Informatyki, Elektrotechniki i Automatyki
- Repozytorium > Typy utworów > Artykuły
- Repozytorium > Czasopisma naukowe i serie wydawnicze UZ > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2009)
Data ostatniej modyfikacji:
2024-04-10
Data dodania obiektu:
2024-04-10
Liczba wyświetleń treści obiektu:
31
Wszystkie dostępne wersje tego obiektu:
https://zbc.uz.zgora.pl/repozytorium/publication/88584
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International Journal of Applied Mathematics and Computer Science (AMCS)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 25 (2015)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 24 (2014)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 23 (2013)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 22 (2012)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 21 (2011)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 20 (2010)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 19 (2009)
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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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International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
| Nazwa wydania | Data |
|---|---|
| Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system | 2024-04-10 |
