| Autor: |
Panagiotis S. Trakas, Spyridon I. Anogiatis, Charalampos P. Bechlioulis |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
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| Zdroj: |
Sensors, Vol 24, Iss 14, p 4636 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
1424-8220 |
| DOI: |
10.3390/s24144636 |
| Popis: |
In this paper, we address the trajectory-/target-tracking and obstacle-avoidance problem for nonholonomic mobile robots subjected to diamond-shaped velocity constraints and predefined output performance specifications. The proposed scheme leverages the adaptive performance control to dynamically adjust the user-defined output performance specifications, ensuring compliance with input and safety constraints. A key feature of this approach is the integration of multiple constraints into a single adaptive performance function, governed by a simple adaptive law. Additionally, we introduce a robust velocity estimator with a priori-determined performance attributes to reconstruct the unmeasured trajectory/target velocity. Finally, we validate the effectiveness and robustness of the proposed control scheme, through extensive simulations and a real-world experiment. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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