nonlinear tracking control, mobile robot, input constraint
This paper presents experimental results of nonlinear trajectory tracking controllers for nonholonomic mobile robots with fixed-wing UAV-like input constraints. Programmed to emulate an unmanned air vehicle flying at constant altitude, a nonholonomic mobile robot is assigned to follow a desired trajectory to transition through a sequence of targets in the presence of static and dynamic threats. Two velocity controllers with input constraints are proposed for tracking control. Hardware results using these two velocity controllers are compared to simulation results of dynamic controllers based on nonsmooth backstepping to demonstrate the effectiveness of our approach.
Original Publication Citation
Ren, W., Sun, J., Beard, R., and McLain, T. Experimental Nonlinear Tracking Control for Nonholonomic Mobile Robots with Input Constraints, Proceedings of the American Control Conference, pp. 4923-4928, June 2005, Portland, Oregon.
BYU ScholarsArchive Citation
McLain, Timothy; Beard, Randal W.; Ren, Wei; and Sun, Ji-Sang, "Experimental Nonlinear Tracking Control for Nonholonomic Mobile Robots with Input Constraints" (2005). Faculty Publications. 1918.
Ira A. Fulton College of Engineering and Technology
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