Trajectory Tracking with Obstacle Avoidance for Nonholonomic Mobile Robots with Diamond-Shaped Velocity Constraints and Output Performance Specifications
Open Access
Abstract
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.Keywords
Funding Information
- Hellenic Foundation for Research and Innovation (H.F.R.I.) (HFRI-PD19-370)
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