TY - JOUR
T1 - A practical trajectory tracking approach for autonomous mobile robots
T2 - Nonlinear adaptive H2 design
AU - Chen, Yung Hsiang
AU - Li, Tzuu Hseng S.
AU - Chen, Yung Yue
PY - 2013
Y1 - 2013
N2 - A nonlinear adaptive trajectory tracking design for autonomous mobile robot and its practical implementation are presented in this paper. This approach can be applied to generate trajectory tracking control commands for autonomous mobile robot tracking predefined trajectories. The design objective is to specify one nonlinear controller with a parameter adaptive law that satisfies the adaptive H2 optimal performance. In general, it is hard to obtain the closed-form solution from this nonlinear trajectory tracking problem. Fortunately, based on the property of the trajectory tracking error dynamic system of the autonomous mobile robot, one closed-form solution to this problem can be obtained with a very simple form for the preceding control design.
AB - A nonlinear adaptive trajectory tracking design for autonomous mobile robot and its practical implementation are presented in this paper. This approach can be applied to generate trajectory tracking control commands for autonomous mobile robot tracking predefined trajectories. The design objective is to specify one nonlinear controller with a parameter adaptive law that satisfies the adaptive H2 optimal performance. In general, it is hard to obtain the closed-form solution from this nonlinear trajectory tracking problem. Fortunately, based on the property of the trajectory tracking error dynamic system of the autonomous mobile robot, one closed-form solution to this problem can be obtained with a very simple form for the preceding control design.
UR - http://www.scopus.com/inward/record.url?scp=84892683796&partnerID=8YFLogxK
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U2 - 10.1139/tcsme-2013-0028
DO - 10.1139/tcsme-2013-0028
M3 - Article
AN - SCOPUS:84892683796
SN - 0315-8977
VL - 37
SP - 385
EP - 394
JO - Transactions of the Canadian Society for Mechanical Engineering
JF - Transactions of the Canadian Society for Mechanical Engineering
IS - 3
ER -