Synthesis of an Algorithm for Robust Control of a Mobile Robot Movement along a Smooth Trajectory
https://doi.org/10.17586/0021-3454-2022-65-7-500-512
Abstract
The problem of trajectory control of the movement of a mobile robot along a given continuous trajectory is considered. Mathematical model of the robot's movement may contain unknown parameters, and the movement trajectory is an arbitrary continuous curve with limited curvature. For presented nonlinear model of robot movement, transformation of the model to the normal form allows for synthesizing a robust controller using the extended observer method. The obtained control algorithm ensures the robot movement along a continuous trajectory with an error limited in the steady state, the maximum value of the error can be adjusted using the tuning parameters.
Supporting agencies: The work was supported by the President of the Russian Federation, grant № MD-3574.2022.4.
About the Authors
Hoang Duc Thinh
ITMO University
Russian Federation
Russian Federation
Duc Thinh Hoang – Post-Graduate Student; Faculty of Control Systems and Robotics
St. Petersburg
A. A. Pyrkin
ITMO University
Russian Federation
Russian Federation
Anton A. Pyrkin – Dr. Sci., Professor; Faculty of Control Systems and Robotics
St. Petersburg
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Review
For citations:
Thinh H.D., Pyrkin A.A. Synthesis of an Algorithm for Robust Control of a Mobile Robot Movement along a Smooth Trajectory. Journal of Instrument Engineering. 2022;65(7):500-512. (In Russ.) https://doi.org/10.17586/0021-3454-2022-65-7-500-512
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