Trajectory Tracking Controller Design for Mobile Robots with Bounded Input

Juan Wang; Xiu Feng Zhang

doi:10.4028/www.scientific.net/AMM.427-429.1145

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 427-429Trajectory Tracking Controller Design for Mobile...

Trajectory Tracking Controller Design for Mobile Robots with Bounded Input

Abstract:

In this paper, the robust trajectory tracking problem has been addressed for nonholonomic wheeled mobile robots with dynamic uncertainties, disturbance and actuator constraints. control theory, LMI theory and principle of MPC are utilized to design robust tracking controller. Simulation is performed to highlight the effectiveness of the proposed control law.

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Periodical:

Applied Mechanics and Materials (Volumes 427-429)

Pages:

1145-1149

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.427-429.1145

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Online since:

September 2013

Authors:

Juan Wang*, Xiu Feng Zhang

Keywords:

Full Dynamic Error Model, Receding Horizon Control, Robust Tracking

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* - Corresponding Author

References

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