1,919 research outputs found
Adaptive tracking control of nonholonomic systems: an example
We study an example of an adaptive (state) tracking control problem for a four-wheel mobile robot, as it is an illustrative example of the general adaptive state-feedback tracking control problem. It turns out that formulating the adaptive state-feedback tracking control problem is not straightforward, since specifying the reference state-trajectory can be in conflict with not knowing certain parameters. Our example illustrates this difficulty and we propose a problem formulation for the adaptive state-feedback tracking problem that meets the natural prerequisite that it reduces to the state-feedback tracking problem if the parameters are known. A general methodology for solving the problem is derive
Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances
The stabilization problem of nonholonomic mobile robots with unknown system parameters and environmental disturbances is investigated in this paper. Considering the dynamic model and the kinematic model of mobile robots, the transverse function approach is adopted to construct an additional control parameter, so that the closed-loop system is not underactuated. Then the adaptive backstepping method and the parameter projection technique are applied to design the controller to stabilize the system. At last, simulation results demonstrate the effectiveness of our proposed controller schemes
Practical Stabilization of Uncertain Nonholonomic Mobile Robots Based on Visual Servoing Model with Uncalibrated Camera Parameters
The practical stabilization problem is addressed for a class of uncertain nonholonomic mobile robots with uncalibrated visual parameters. Based on the visual servoing kinematic model, a new switching controller is presented in the presence of parametric uncertainties associated with the camera system. In comparison with existing methods, the new design method is directly used to control the original system without any state or input transformation, which is effective to avoid singularity. Under the proposed control law, it is rigorously proved that all the states of closed-loop system can be stabilized to a prescribed arbitrarily small neighborhood of the zero equilibrium point. Furthermore, this switching control technique can be applied to solve the practical stabilization problem of a kind of mobile robots with uncertain parameters (and angle measurement disturbance) which appeared in some literatures such as Morin et al. (1998), Hespanha et al. (1999), Jiang (2000), and Hong et al. (2005). Finally, the simulation results show the effectiveness of the proposed controller design approach
Controlling rigid formations of mobile agents under inconsistent measurements
Despite the great success of using gradient-based controllers to stabilize
rigid formations of autonomous agents in the past years, surprising yet
intriguing undesirable collective motions have been reported recently when
inconsistent measurements are used in the agents' local controllers. To make
the existing gradient control robust against such measurement inconsistency, we
exploit local estimators following the well known internal model principle for
robust output regulation control. The new estimator-based gradient control is
still distributed in nature and can be constructed systematically even when the
number of agents in a rigid formation grows. We prove rigorously that the
proposed control is able to guarantee exponential convergence and then
demonstrate through robotic experiments and computer simulations that the
reported inconsistency-induced orbits of collective movements are effectively
eliminated.Comment: 10 page
Input-to-State Safety With Control Barrier Functions
This letter presents a new notion of input-to-state safe control barrier
functions (ISSf-CBFs), which ensure safety of nonlinear dynamical systems under
input disturbances. Similar to how safety conditions are specified in terms of
forward invariance of a set, input-to-state safety (ISSf) conditions are
specified in terms of forward invariance of a slightly larger set. In this
context, invariance of the larger set implies that the states stay either
inside or very close to the smaller safe set; and this closeness is bounded by
the magnitude of the disturbances. The main contribution of the letter is the
methodology used for obtaining a valid ISSf-CBF, given a control barrier
function (CBF). The associated universal control law will also be provided.
Towards the end, we will study unified quadratic programs (QPs) that combine
control Lyapunov functions (CLFs) and ISSf-CBFs in order to obtain a single
control law that ensures both safety and stability in systems with input
disturbances.Comment: 7 pages, 7 figures; Final submitted versio
Robust formation-tracking control of mobile robots in a spanning-tree topology
International audienceWe solve the formation-tracking control problem for mobile robots via linear control, under the assumption that each agent communicates only with one "leader" robot and with one follower. As in the classical tracking control problem for nonholonomic systems, the swarm is driven by a fictitious robot which moves about freely and which is leader to one robot only. For a spanning-tree topology we show that persistency of excitation on the velocity of the virtual leader is sufficient and necessary to achieve consensus tracking. Furthermore, we establish uniform global exponential stability for the error system which implies robustness with respect to additive bounded disturbances. From a graph viewpoint, our main result corroborates that the existence of a spanning tree is necessary and sufficient for consensus as opposed to the usual but restrictive assumption of all-to-all undirected communication
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