Tracking-error model-based PDC control for mobile robots with acceleration limits

Authors:
El-Hadi Guechi;Jimmy Lauber;Michel Dambrine;Sašo Blažič;Gregor Klančar
Affiliations:
LAMIH Laboratory, UMR CNRS, University of Valenciennes and Hainaut-Cambrésis, Valenciennes Cedex, France;LAMIH Laboratory, UMR CNRS, University of Valenciennes and Hainaut-Cambrésis, Valenciennes Cedex, France;LAMIH Laboratory, UMR CNRS, University of Valenciennes and Hainaut-Cambrésis, Valenciennes Cedex, France;Laboratory of Modeling, Simulation and Control, Faculty of Electrical Engineering, Ljubljana, Slovenija;Laboratory of Modeling, Simulation and Control, Faculty of Electrical Engineering, Ljubljana, Slovenija
Venue:
FUZZ-IEEE'09 Proceedings of the 18th international conference on Fuzzy Systems
Year:
2009

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Abstract

This paper presents a new technique for tracking-error model-based PDC control for nonholonomic vehicles. Briefly, this technique consists of rewriting the kinematic error model of the tracking problem for mobile robot into a fuzzy TS representation and finding a stabilizing controller by solving LMI conditions for tracking-error model. The state variables are filtered using a TS fuzzy observer. The reference trajectory is built with taking into account the acceleration limits of the mobile robot. Experimental results are presented here to show the efficiency of the proposed approach.