This paper develops a unified framework for point stabilization and tracking control of differential drive robots under hard input constraints. The proposed control strategy is based on the recently introduced Pointwise Angle Minimization method and addresses the steering problem by studying a robot’s achievable directions of motion considering the constraints imposed on it. To illustrate the strength of the proposed framework, a new control problem which combines the posture stabilization and tracking control is studied. The problem of interest is steering a constrained-input mobile robot from an initial point towards a final point on a desired trajectory while regulating the robot’s heading such that the control convergence is guaranteed within the admissible input space. Inspired by the geometry of sliding mode control, this paper proposes a new control strategy for this problem. The stability of the closed loop system under the proposed steering scheme is proved by Lyapunov analysis for the shortest path trajectory and generalization to the case of arbitrarily chosen desired trajectory has been proposed. Finally, effectiveness of the discussed control strategies are illustrated by several simulation results.
- Dynamic Systems and Control Division
A Uniform Control for Tracking and Point Stabilization of Differential Drive Robots Subject to Hard Input Constraints
Zeiaee, A, Soltani-Zarrin, R, Jayasuriya, S, & Langari, R. "A Uniform Control for Tracking and Point Stabilization of Differential Drive Robots Subject to Hard Input Constraints." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems. Columbus, Ohio, USA. October 28–30, 2015. V001T04A005. ASME. https://doi.org/10.1115/DSCC2015-9925
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