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Title of Journal: Int J Control Autom Syst

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Abbravation: International Journal of Control, Automation and Systems

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Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers

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DOI

10.1007/978-3-642-34176-2

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2005-4092

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Backward orientation tracking control of mobile ro

Authors: Jin Cheng Bin Wang Yong Zhang Zhonghua Wang
Publish Date: 2017/03/08
Volume: 15, Issue: 2, Pages: 867-874
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Abstract

A feedback control law for orientation tracking problem of a mobile robot with N onaxle trailers is proposed in this paper Based on a recursive designing process the orientation tracking problem is converted into stabilizing the including angles on the designed reference value The designing process of the control law is simple and can be easily extended to any given N trailers system With inputtostate stability on cascade form system the closedloop system is proven to be asymptotically stable Simulation experiment on a mobile robot with 4 trailers is implemented and the results demonstrate that the proposed control law works successfullyJin Cheng received his PhD degree in control theory and control engineering from Institute of Automation Chinese Academy of Science in 2007 and MD from Shandong University in 2004 He is currently an associate professor at the School of Electrical Engineering University of Jinan Jinan China His research interests include robotics motion planning algorithm and nonholonomic systemBin Wang received the BS degree in China University of Petroleum Dongying China in 2010 and the PhD degree in control theory and control engineering from the Institute of Automation Chinese Academy of Sciences Beijing China in 2015 He is currently a lecturer at the School of Electrical Engineering University of Jinan Jinan China His current research interests include robotics reinforcement learning adaptive dynamic programming and neural networksYong Zhang received his MD and PhD degrees in Harbin Institute of Technology Harbin China in 1988 and 2011 respectively He is currently a professor at the School of Electrical Engineering University of Jinan Jinan China His current research interests include robotics visual recognition and electrical driveZhonghua Wang received his PhD degree in mechanical engineering from Southeast University China in 2002 and his MD in Mechanical Engineering from Shandong University Jinan Shandong Province in 1998 He is currently a professor in the School of Electrical Engineering University of Jinan Jinan China His current research interests include motion Control mechatronics robust adaptive control theory and application

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Other Papers In This Journal:
  1. Finite-time control for discrete-time switched systems with time delay
  2. Autopilots for small unmanned aerial vehicles: A survey
  3. An LMI Approach to consensus in second-order multi-agent systems
  4. A Gaussian distributed resampling algorithm for mitigation of sample impoverishment in particle filters
  5. Periodic use of time-varying state feedbacks for the receding horizon control of bilinear systems
  6. Non-symmetric unscented transformation with application to in-flight alignment
  7. Optimized ellipsoid algorithm for LMI feasibility problems
  8. Improved stability criteria for T-S fuzzy systems with time-varying delay by delay-partitioning approach
  9. High gain adaptive observer design for sensorless state and parameter estimation of induction motors
  10. Adaptive consensus control for multiple Euler-Lagrange systems with external disturbance
  11. Position coordinate representation of flying arrow and analysis of its performance indicator
  12. Exploration of unknown object by active touch of robot hand
  13. A recursive state estimator in the presence of state inequality constraints
  14. Over networks H ∞ filtering for discrete singular jump systems with interval time-varying delay
  15. A grey probability measure set based mobile robot position estimation algorithm
  16. Fault diagnosis and fault tolerant control for non-Gaussian time-delayed singular stochastic distribution systems
  17. The localization of a mobile robot using a pseudolite ultrasonic system and a dead reckoning integrated system
  18. Parameter convergence in adaptive feedback linearizing control of limit cycling systems with input saturation
  19. Lyapunov-based feedback design and experimental verification of IC engine speed control
  20. Cadaver study for spinal fusion surgery using an image-guided surgical robot system
  21. Nonlinear decoupling control of four-wheel-steering vehicles with an observer
  22. Motion control of an omnidirectional mobile platform for trajectory tracking using an integral sliding mode controller
  23. Robust control under constraints of linear systems with Markovian jumps
  24. Robust stabilization of singular markovian jump systems with uncertain switching
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