Tracking control of mobile robots: a case study in backstepping
Automatica (Journal of IFAC)
Robot Motion Planning and Control
Robot Motion Planning and Control
Integral sliding mode control for trajectory tracking of a unicycle type mobile robot
Integrated Computer-Aided Engineering - Informatics in Control, Automation and Robotics
Survey Constrained model predictive control: Stability and optimality
Automatica (Journal of IFAC)
Stabilization of nonholonomic integrators via logic-based switching
Automatica (Journal of IFAC)
Brief An improved approach for constrained robust model predictive control
Automatica (Journal of IFAC)
Brief Higher-order sliding mode stabilization for a class of nonholonomic perturbed systems
Automatica (Journal of IFAC)
Robotics and Autonomous Systems
Mono Landmark Localization for an Autonomous Navigation of a Cooperative Mobile Robot Formation
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
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This paper presents an architecture for the navigation of an autonomous mobile robot evolving in environments with obstacles. Instead of addressing the motion planning and control problems in different contexts, these issues are described in connected modules with performance requirement considerations. The path planning problem is formulated as a constrained receding horizon planning problem and is solved in real time with an efficient computational method that combines non-linear control theory, B-spline basis function and non-linear programming. An integral sliding mode controller is used for trajectory tracking. The closed-loop stability of the tracking errors is guaranteed in spite of unknown disturbances. It is also shown that this strategy is particularly useful if integral sliding mode control is combined with other methods to further robustify against perturbations. The effectiveness, perfect performance of obstacle avoidance, real time and high robustness properties are demonstrated by experimental results.