Digital Library of Zielona Góra contains 9 272 digital objects
Object
Title: A robust path following algorithm based on the orthogonal Bishop parametrization for a non-holonomic mobile manipulator
Contributor:
Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.
Group publication title:
Abstract:
We deal with the fundamental problem of path following applied to control mobile manipulators. A parametric-based path following algorithm is proposed. Such an approach results in a cascaded structure of the control system, so that the control algorithm is designed using the backstepping integrator method. ; The proposed solution is robust due to the following features. Firstly, it is based on the Bishop parametrization, which is well-defined at every point of the curve. Moreover, we present a novel approach to the orthogonal projection method onto the path so that the motion precisely along the path is possible. Finally, the robustness to structural and parametric uncertainties of the dynamics model is guaranteed thanks to the sliding mode controller applied at the dynamic level of the control cascade. The problem is analyzed theoretically. The achieved results are verified with an exemplary simulation study. The proposed algorithm assures asymptotic convergence of errors to zero for less strict requirements imposed on the desired path and in the case of partial knowledge of the dynamics model.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
DOI:
Pages:
Source:
AMCS, volume 35, number 2 (2025) ; click here to follow the link
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- 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) (2025)
Last modified:
Aug 7, 2025
In our library since:
Aug 7, 2025
Number of object content hits:
14
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/101969
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 35, number 1 (2025)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 35, number 2 (2025)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 35, number 3 (2025)
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| Edition name | Date |
|---|---|
| A robust path following algorithm based on the orthogonal Bishop parametrization for a non-holonomic mobile manipulator | Aug 7, 2025 |
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Mazur, Alicja Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.
Mazur, Alicja Szakiel, Dawid Zieliński, Cezary - ed.
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