Output feedback tracking control of the omni-directional robot based on an orientation observer

Siyuan Li; Yuxiang Guo; Baoli Ma; Wenjing Xie

doi:10.23919/ChiCC.2017.8027455

Output feedback tracking control of the omni-directional robot based on an orientation observer

Siyuan Li
, Yuxiang Guo
, Baoli Ma^*
, Wenjing Xie

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Beihang University
Southwest University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

In this paper, we study the output feedback tracking control problem of omni-directional robots. Firstly, we construct an observer to estimate the value of unknown orientation of the robot through switching and event triggering strategies. Compared to present works, the velocity of the robot is only required persistently exciting, and hence can go through zero, meanwhile, the acceleration measurement of the robot is unneeded. Then, we design an output feedback tracking controller, guaranteeing that tracking errors asymptotically converge to zero. Finally, numerical simulations verify all obtained theoretical results.

Original language	English
Title of host publication	Proceedings of the 36th Chinese Control Conference, CCC 2017
Editors	Tao Liu, Qianchuan Zhao
Publisher	IEEE Computer Society
Pages	872-877
Number of pages	6
ISBN (Electronic)	9789881563934
DOIs	https://doi.org/10.23919/ChiCC.2017.8027455
State	Published - 7 Sep 2017
Event	36th Chinese Control Conference, CCC 2017 - Dalian, China Duration: 26 Jul 2017 → 28 Jul 2017

Publication series

Name	Chinese Control Conference, CCC
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	36th Chinese Control Conference, CCC 2017
Country/Territory	China
City	Dalian
Period	26/07/17 → 28/07/17

Keywords

Nonlinear Control
Nonlinear Observer
Omni-Directional Robot
Output Feedback Control

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10.23919/ChiCC.2017.8027455

Cite this

@inproceedings{675be9dd087245439fed9e791016c9aa,

title = "Output feedback tracking control of the omni-directional robot based on an orientation observer",

abstract = "In this paper, we study the output feedback tracking control problem of omni-directional robots. Firstly, we construct an observer to estimate the value of unknown orientation of the robot through switching and event triggering strategies. Compared to present works, the velocity of the robot is only required persistently exciting, and hence can go through zero, meanwhile, the acceleration measurement of the robot is unneeded. Then, we design an output feedback tracking controller, guaranteeing that tracking errors asymptotically converge to zero. Finally, numerical simulations verify all obtained theoretical results.",

keywords = "Nonlinear Control, Nonlinear Observer, Omni-Directional Robot, Output Feedback Control",

author = "Siyuan Li and Yuxiang Guo and Baoli Ma and Wenjing Xie",

note = "Publisher Copyright: {\textcopyright} 2017 Technical Committee on Control Theory, CAA.; 36th Chinese Control Conference, CCC 2017 ; Conference date: 26-07-2017 Through 28-07-2017",

year = "2017",

month = sep,

day = "7",

doi = "10.23919/ChiCC.2017.8027455",

language = "英语",

series = "Chinese Control Conference, CCC",

publisher = "IEEE Computer Society",

pages = "872--877",

editor = "Tao Liu and Qianchuan Zhao",

booktitle = "Proceedings of the 36th Chinese Control Conference, CCC 2017",

address = "美国",

}

Li, S, Guo, Y, Ma, B & Xie, W 2017, Output feedback tracking control of the omni-directional robot based on an orientation observer. in T Liu & Q Zhao (eds), Proceedings of the 36th Chinese Control Conference, CCC 2017., 8027455, Chinese Control Conference, CCC, IEEE Computer Society, pp. 872-877, 36th Chinese Control Conference, CCC 2017, Dalian, China, 26/07/17. https://doi.org/10.23919/ChiCC.2017.8027455

Output feedback tracking control of the omni-directional robot based on an orientation observer. / Li, Siyuan; Guo, Yuxiang; Ma, Baoli et al.
Proceedings of the 36th Chinese Control Conference, CCC 2017. ed. / Tao Liu; Qianchuan Zhao. IEEE Computer Society, 2017. p. 872-877 8027455 (Chinese Control Conference, CCC).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Output feedback tracking control of the omni-directional robot based on an orientation observer

AU - Li, Siyuan

AU - Guo, Yuxiang

AU - Ma, Baoli

AU - Xie, Wenjing

PY - 2017/9/7

Y1 - 2017/9/7

N2 - In this paper, we study the output feedback tracking control problem of omni-directional robots. Firstly, we construct an observer to estimate the value of unknown orientation of the robot through switching and event triggering strategies. Compared to present works, the velocity of the robot is only required persistently exciting, and hence can go through zero, meanwhile, the acceleration measurement of the robot is unneeded. Then, we design an output feedback tracking controller, guaranteeing that tracking errors asymptotically converge to zero. Finally, numerical simulations verify all obtained theoretical results.

AB - In this paper, we study the output feedback tracking control problem of omni-directional robots. Firstly, we construct an observer to estimate the value of unknown orientation of the robot through switching and event triggering strategies. Compared to present works, the velocity of the robot is only required persistently exciting, and hence can go through zero, meanwhile, the acceleration measurement of the robot is unneeded. Then, we design an output feedback tracking controller, guaranteeing that tracking errors asymptotically converge to zero. Finally, numerical simulations verify all obtained theoretical results.

KW - Nonlinear Control

KW - Nonlinear Observer

KW - Omni-Directional Robot

KW - Output Feedback Control

UR - https://www.scopus.com/pages/publications/85032223905

U2 - 10.23919/ChiCC.2017.8027455

DO - 10.23919/ChiCC.2017.8027455

M3 - 会议稿件

AN - SCOPUS:85032223905

T3 - Chinese Control Conference, CCC

SP - 872

EP - 877

BT - Proceedings of the 36th Chinese Control Conference, CCC 2017

A2 - Liu, Tao

A2 - Zhao, Qianchuan

PB - IEEE Computer Society

T2 - 36th Chinese Control Conference, CCC 2017

Y2 - 26 July 2017 through 28 July 2017

ER -

Output feedback tracking control of the omni-directional robot based on an orientation observer

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