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    Bounded Controllers for Global Path Tracking Control of Unicycle-type Mobile Robots

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    Fulltext not available
    Authors
    Do, Khac Duc
    Date
    2013
    Type
    Journal Article
    
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    Citation
    Do, K.D. 2013. Bounded Controllers for Global Path Tracking Control of Unicycle-type Mobile Robots. Robotics and Autonomous Systems. 61 (8): pp. 775-784.
    Source Title
    Robotics and Autonomous Systems
    DOI
    10.1016/j.robot.2013.04.014
    ISSN
    0921-8890
    URI
    http://hdl.handle.net/20.500.11937/11774
    Collection
    • Curtin Research Publications
    Abstract

    This paper presents a design of bounded controllers with a predetermined bound for global path tracking control of unicycle-type mobile robots at the torque level. A new one-step ahead backstepping method is first introduced. The heading angle and linear velocity of the robots are then considered as immediate controls to force the position of the robots to globally and asymptotically track its reference path. These immediate controls are designed based on the one-step ahead backstepping method to yield bounded control laws. Next, the one-step ahead backstepping method is applied again to design bounded control torques of the robots with a pre-specified bound. The proposed control design ensures global asymptotical and local exponential convergence of the position and orientation tracking errors to zero, and bounded torques driving the robots. Experimental results on a Khepera mobile robot verify the proposed control controller.

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