TY - GEN
T1 - On-line reference governor for mobile robot with velocity feedback controller
AU - Kawabata, Kuniaki
AU - Xue, Jianru
AU - Ma, Liang
AU - Zheng, Nanning
PY - 2014
Y1 - 2014
N2 - This paper proposed an on-line reference governor for a mobile robot with velocity feedback controller. In order to follow given time path by a mobile robot, it is a practical subject how to cope with the disturbances by the slippage and the restrictions on the control system. In this paper, we proposed a methodology to adjust iteratively the control reference based on time scaling approach for a mobile robot to follow the path. By introducing proposed on-line reference governor, control input saturation can be reduced in case of that the disturbances occur during traveling and path tracking error is also reduced. For verification of our proposed method, computer simulations utilizing a plant with stable feedback controller were conducted and the results were discussed in this paper.
AB - This paper proposed an on-line reference governor for a mobile robot with velocity feedback controller. In order to follow given time path by a mobile robot, it is a practical subject how to cope with the disturbances by the slippage and the restrictions on the control system. In this paper, we proposed a methodology to adjust iteratively the control reference based on time scaling approach for a mobile robot to follow the path. By introducing proposed on-line reference governor, control input saturation can be reduced in case of that the disturbances occur during traveling and path tracking error is also reduced. For verification of our proposed method, computer simulations utilizing a plant with stable feedback controller were conducted and the results were discussed in this paper.
UR - https://www.scopus.com/pages/publications/84906675713
U2 - 10.1109/AIM.2014.6878219
DO - 10.1109/AIM.2014.6878219
M3 - 会议稿件
AN - SCOPUS:84906675713
SN - 9781479957361
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1048
EP - 1053
BT - AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
Y2 - 8 July 2014 through 11 July 2014
ER -