Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots

Akhtar, Adeel; Nielsen, Christopher; Waslander, Steven L.

doi:10.1109/tro.2015.2395711

Cited by 58 publications

(20 citation statements)

References 30 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The simplest model of this type is the unicycle, which can move only in the longitudinal direction while the lateral motion is impossible. Examples of robots, reducing under certain conditions to the unicycle-type kinematics, include differential drive wheeled mobile robots [13], [39], fixed wing aircraft [30], [31], [36], marine vessels at cruise speeds [35] and car-like vehicles, whose rear wheels are not steerable [13], [20], [39]. The most interesting are unicycle models where the speed is restricted to be sufficiently high, making it impossible to reduce the unicycle to a holonomic model via the feedback linearization [40].…”

Section: Problem Setupmentioning

confidence: 99%

See 1 more Smart Citation

A Guiding Vector-Field Algorithm for Path-Following Control of Nonholonomic Mobile Robots

Kapitanyuk

Proskurnikov

Cao

2018

IEEE Trans. Contr. Syst. Technol.

109

138

View full text Add to dashboard Cite

Abstract-In this paper we propose an algorithm for pathfollowing control of the nonholonomic mobile robot based on the idea of the guiding vector field (GVF). The desired path may be an arbitrary smooth curve in its implicit form, that is, a level set of a predefined smooth function. Using this function and the robot's kinematic model, we design a GVF, whose integral curves converge to the trajectory. A nonlinear motion controller is then proposed which steers the robot along such an integral curve, bringing it to the desired path. We establish global convergence conditions for our algorithm and demonstrate its applicability and performance by experiments with real wheeled robots.

show abstract

Section: Problem Setupmentioning

confidence: 99%

“…Suppose that t * = ∞. Differentiating the function (11) along the trajectories, it can be shown thaṫ V = u r eψ ′ (ψ −1 (e))n ⊤m (20) = (20) = u r eψ ′ (ψ −1 (e))n ⊤ [m d cos δ − Em d sin δ] (14) = (14) = u r eψ ′ (ψ −1 (e)) |v|n ⊤ [v cos δ − Ev sin δ]…”

Section: Local Existence and Convergence Of The Solutionsmentioning

confidence: 99%

A Guiding Vector-Field Algorithm for Path-Following Control of Nonholonomic Mobile Robots

Kapitanyuk

Proskurnikov

Cao

2018

IEEE Trans. Contr. Syst. Technol.

109

138

View full text Add to dashboard Cite

show abstract

“…A path following problem is more general compared to a trajectory tracking problem, as a path can be treated as a set of trajectories [4]. Moreover, the path following framework allows achieving path invariance, which means that once the system converges to the path, it stays on it for all future time [5].…”

Section: Introductionmentioning

confidence: 99%

Path Following for a Class of Underactuated Systems Using Global Parameterization

2020

Self Cite

View full text Add to dashboard Cite

A large number of both aerial and underwater mobile robots fall in the category of underactuated systems that are defined on a manifold, which is not isomorphic to Euclidean space. Traditional approaches to designing controllers for such systems include geometric approaches and local coordinatebased representations. In this paper, we propose a global parameterization of the special orthogonal group, denoted by SO(3), to design path-following controllers for underactuated systems. In particular, we present a nine-dimensional representation of SO(3) that leads to controllers achieving path-invariance for a large class of both closed and non-closed embedded curves. On the one hand, this over-parameterization leads to a simple set of differential equations and provides a global non-ambiguous representation of systems as compared to other local or minimal parametric approaches. On the other hand, this over-parameterization also leads to uncontrolled internal dynamics, which we prove to be bounded and stable. The proposed controller, when applied to a quadrotor system, is capable of recovering the system from challenging situations such as initial upside-down orientation and also capable of performing multiple flips. INDEX TERMS Feedback linearization, nonlinear control, path following, quadrotor, underactuated system.

show abstract

“…In order to solve the global control problem, many solutions have been put forward [8,9]. Among them, the state feedback linearization method that develops from differential geometry [10,11] has become an effective way to solve the nonlinear power electronics system control problems. Based on the differential homeomorphism, Lie derivative is used to analyze the numerical relation between the state variables, the input variables, and the output variables.…”

Section: Introductionmentioning

confidence: 99%

Control Design of LCL Type Grid-Connected Inverter Based on State Feedback Linearization

2019

View full text Add to dashboard Cite

Control strategy is the key technology of power electronic converter equipment. In order to solve the problem of controller design, a general design method is presented in this paper, which is more convenient to use computer machine learning and provides design rules for high-order power electronic system. With the higher order system Lie derivative, the nonlinear system is mapped to a controllable standard type, and then classical linear system control method is adopted to design the controller. The simulation and experimental results show that the two controllers have good steady-state control performance and dynamic response performance.

show abstract

Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots

Cited by 58 publications

References 30 publications

A Guiding Vector-Field Algorithm for Path-Following Control of Nonholonomic Mobile Robots

A Guiding Vector-Field Algorithm for Path-Following Control of Nonholonomic Mobile Robots

Path Following for a Class of Underactuated Systems Using Global Parameterization

Control Design of LCL Type Grid-Connected Inverter Based on State Feedback Linearization

Contact Info

Product

Resources

About