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Trajectory tracking control of mobile robots without using longitudinal velocity measurements

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Abstract

We propose a new robust trajectory tracking control scheme for wheeled mobile robots without longitudinal velocity measurements. In the proposed controller, a velocity observer is used to estimate the longitudinal velocity of a wheeled mobile robot. A wheeled mobile robot model, including motor dynamics, is used to develop the controller. The developed controller has the following useful properties. (1) The developed controller does not require any accurate knowledge of the robot parameters or the motor parameters. Even if there are uncertainties in the robot dynamics, including the motor properties, it is certain that tracking errors ultimately become uniformly bounded in a closed-loop system using the developed controller. (2) It is shown theoretically that the ultimate norms of tracking errors can easily be reduced by setting only one design parameter.

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Author information

Authors and Affiliations

  1. Department of Mechanical and Control Engineering, Kyushu Institute of Technology, 1-1 Sensui-cho, Tobata-ku, Kitakyushu, Fukuoka, 804-8550, Japan

    Koei Maeda & Masahiro Oya

  2. Department of Systems Design and Informatics, Kyushu Institute of Technology, Fukuoka, Japan

    Qiang Wang

  3. Fukuoka Industrial Technology Center, Fukuoka, Japan

    Katsuhiro Okumura

Authors
  1. Koei Maeda
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  2. Masahiro Oya
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  3. Qiang Wang
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  4. Katsuhiro Okumura
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Corresponding author

Correspondence to Masahiro Oya.

Additional information

This work was presented in part at the 14th International Symposium on Artificial Life and Robotics, Oita, Japan, February 5–7, 2009

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Cite this article

Maeda, K., Oya, M., Wang, Q. et al. Trajectory tracking control of mobile robots without using longitudinal velocity measurements. Artif Life Robotics 14, 352–356 (2009). https://doi.org/10.1007/s10015-009-0680-3

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  • DOI: https://doi.org/10.1007/s10015-009-0680-3

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