Finite-Time Switching Control of Nonholonomic Mobile Robots for Moving Target Tracking Based on Polar Coordinates
Complexity 2018:1-9 (2018)
AbstractIn this paper, finite-time tracking problem of nonholonomic mobile robots for a moving target is considered. First of all, polar coordinates are used to characterize the distance and azimuth between the moving target and the robot. Then, based on the distance and azimuth transported from the sensor installed on the robot, a finite-time tracking control law is designed for the nonholonomic mobile robot by the switching control method. Rigorous proof shows that the tracking error converges to zero in a finite time. Numerical simulation demonstrates the effectiveness of the proposed control method.
Similar books and articles
Finite-Time Switched Second-Order Sliding-Mode Control of Nonholonomic Wheeled Mobile Robot Systems.Hao Ce, Wang Hongbin, Cheng Xiaoyan, Zhou Zhen, Ge Shungang & Hu Zhongquan - 2018 - Complexity 2018:1-10.
Navigation Without Perception of Coordinates and Distances.Armin Hemmerling - 1994 - Mathematical Logic Quarterly 40 (2):237-260.
Consciousness and Control in Task Switching.Nachshon Meiran, Bernhard Hommel, Uri Bibi & Idit Lev - 2002 - Consciousness and Cognition 11 (1):10-33.
Tracking and Frequency of Target Intermittence.W. F. Battig, Lee W. Gregg, E. H. Nagel, Arnold M. Small Jr & W. J. Brogden - 1954 - Journal of Experimental Psychology 47 (5):309.
When Our Mobile Robots Are Free-Ranging Critters, How Ought They to Behave? What Should Their Top-Level Instructions Look Like? The Best Known Prescription for Mobile Robots is the Three Laws of Robotics Formulated by Isaac Asimov (1942): 1. A Robot May Not Injure a Human Being, or Through Inaction, Allow a Human. [REVIEW]James Gips - 2011 - In M. Anderson S. Anderson (ed.), Machine Ethics. Cambridge Univ. Press. pp. 244.
Further Evidence for Inhibition of Moving Nontargets in Multiple Object Tracking.Zenon Pylyshyn - manuscript
On the Moral Responsibility of Military Robots.Thomas Hellström - 2013 - Ethics and Information Technology 15 (2):99-107.
Locative and Directional Prepositions in Conceptual Spaces: The Role of Polar Convexity.Joost Zwarts & Peter Gärdenfors - 2016 - Journal of Logic, Language and Information 25 (1):109-138.
Empirically Investigating a Hybrid Lean-Agile Design Paradigm for Mobile Robots.Salah A. M. Elmoselhy - 2015 - Journal of Intelligent Systems 24 (1):117-134.
Constant Velocity Tracking as a Function of S's Handedness and the Rate and Direction of the Target Course.David A. Grant & Noel F. Kaestner - 1955 - Journal of Experimental Psychology 49 (3):203.
Who’s Afraid of Robots? Fear of Automation and the Ideal of Direct Control.Ezio Di Nucci & Filippo Santoni de Sio - 2014 - In Fiorella Battaglia & Natalie Weidenfeld (eds.), Roboethics in Film. Pisa University Press.
Added to PP
Historical graph of downloads
Citations of this work
Robust Stabilization of Extended Nonholonomic Chained-Form Systems with Dynamic Nonlinear Uncertain Terms by Using Active Disturbance Rejection Control.Hua Chen, Xiaoying Sun, Shen Xu & Yuxuan Wang - 2019 - Complexity 2019:1-12.
Adaptive Visually Servoed Tracking Control for Wheeled Mobile Robot with Uncertain Model Parameters in Complex Environment.Fujie Wang, Yi Qin, Fang Guo, Bin Ren & John T. W. Yeow - 2020 - Complexity 2020:1-13.
References found in this work
No references found.