Robust trajectory tracking controllers for pose-regulation of wheeled mobile robots
Hector M. Becerra, J. Armando Colunga, Jose Guadalupe Romero
Abstract
Two robust kinematic controllers for position trajectory tracking of a perturbed wheeled mobile robot are presented. We address a final objective of fixed-time pose-regulation, which means that the robot position and orientation must reach desired final values simultaneously in a user-defined time. To achieve that, we propose the robust tracking of adequate trajectories for position, which drives the robot to get a desired final orientation due to the nonholonomic motion constraint. Hence, the main contribution of the paper is a complete strategy to define adequate reference trajectories as well as robust controllers to track them in order to enforce the pose-regulation of a wheeled mobile robot in a desired time. Realistic simulations show the good performance of the proposed scheme even in the presence of strong disturbances.
BibTeX
@inproceedings{iros2016_robusttrajectory,
title = {Robust trajectory tracking controllers for pose-regulation of wheeled mobile robots},
author = {Hector M. Becerra and J. Armando Colunga and Jose Guadalupe Romero},
booktitle = {IROS 2016},
year = {2016}
}