Prescribed Performance Bound-based Adaptive Tracking Control of a Mobile Robot with Visibility Constraints

Rui Qian; Wei Wang; Zhen Han

doi:10.1109/ICIEA51954.2021.9516164

Prescribed Performance Bound-based Adaptive Tracking Control of a Mobile Robot with Visibility Constraints

Rui Qian
, Wei Wang
, Zhen Han

School of Automation Science and Electrical Engineering

Beihang University

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

4 Scopus citations

Abstract

This paper mainly investigates the tracking control problem for a mobile robot with visibility constraints. The dynamics of a two-wheeled nonholonomic mobile robot is firstly established. By considering the objective of tracking a moving target with unknown velocities, an adaptive controller is designed by utilizing backstepping technique. Furthermore, the prescribed performance bound (PPB) technique is adopted to guarantee that the moving target is always forced within the visible range of the on-board camera. Simulation results are provided to validate the theoretical results.

Original language	English
Title of host publication	Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	207-212
Number of pages	6
ISBN (Electronic)	9781665422482
DOIs	https://doi.org/10.1109/ICIEA51954.2021.9516164
State	Published - 1 Aug 2021
Event	16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021 - Chengdu, China Duration: 1 Aug 2021 → 4 Aug 2021

Publication series

Name	Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021

Conference

Conference	16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021
Country/Territory	China
City	Chengdu
Period	1/08/21 → 4/08/21

Keywords

Adaptive control
Nonholonomic mobile robot
Prescribed performance bound
Visibility constraints

Access to Document

10.1109/ICIEA51954.2021.9516164

Cite this

Qian, R., Wang, W., & Han, Z. (2021). Prescribed Performance Bound-based Adaptive Tracking Control of a Mobile Robot with Visibility Constraints. In Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021 (pp. 207-212). (Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIEA51954.2021.9516164

Qian, Rui ; Wang, Wei ; Han, Zhen. / Prescribed Performance Bound-based Adaptive Tracking Control of a Mobile Robot with Visibility Constraints. Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021. Institute of Electrical and Electronics Engineers Inc., 2021. pp. 207-212 (Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021).

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title = "Prescribed Performance Bound-based Adaptive Tracking Control of a Mobile Robot with Visibility Constraints",

abstract = "This paper mainly investigates the tracking control problem for a mobile robot with visibility constraints. The dynamics of a two-wheeled nonholonomic mobile robot is firstly established. By considering the objective of tracking a moving target with unknown velocities, an adaptive controller is designed by utilizing backstepping technique. Furthermore, the prescribed performance bound (PPB) technique is adopted to guarantee that the moving target is always forced within the visible range of the on-board camera. Simulation results are provided to validate the theoretical results.",

keywords = "Adaptive control, Nonholonomic mobile robot, Prescribed performance bound, Visibility constraints",

author = "Rui Qian and Wei Wang and Zhen Han",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021 ; Conference date: 01-08-2021 Through 04-08-2021",

year = "2021",

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doi = "10.1109/ICIEA51954.2021.9516164",

language = "英语",

series = "Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021",

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Qian, R, Wang, W & Han, Z 2021, Prescribed Performance Bound-based Adaptive Tracking Control of a Mobile Robot with Visibility Constraints. in Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021. Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021, Institute of Electrical and Electronics Engineers Inc., pp. 207-212, 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021, Chengdu, China, 1/08/21. https://doi.org/10.1109/ICIEA51954.2021.9516164

Prescribed Performance Bound-based Adaptive Tracking Control of a Mobile Robot with Visibility Constraints. / Qian, Rui; Wang, Wei; Han, Zhen.
Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 207-212 (Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021).

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

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AU - Wang, Wei

AU - Han, Zhen

PY - 2021/8/1

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N2 - This paper mainly investigates the tracking control problem for a mobile robot with visibility constraints. The dynamics of a two-wheeled nonholonomic mobile robot is firstly established. By considering the objective of tracking a moving target with unknown velocities, an adaptive controller is designed by utilizing backstepping technique. Furthermore, the prescribed performance bound (PPB) technique is adopted to guarantee that the moving target is always forced within the visible range of the on-board camera. Simulation results are provided to validate the theoretical results.

AB - This paper mainly investigates the tracking control problem for a mobile robot with visibility constraints. The dynamics of a two-wheeled nonholonomic mobile robot is firstly established. By considering the objective of tracking a moving target with unknown velocities, an adaptive controller is designed by utilizing backstepping technique. Furthermore, the prescribed performance bound (PPB) technique is adopted to guarantee that the moving target is always forced within the visible range of the on-board camera. Simulation results are provided to validate the theoretical results.

KW - Adaptive control

KW - Nonholonomic mobile robot

KW - Prescribed performance bound

KW - Visibility constraints

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BT - Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021

PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

Qian R, Wang W, Han Z. Prescribed Performance Bound-based Adaptive Tracking Control of a Mobile Robot with Visibility Constraints. In Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 207-212. (Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021). doi: 10.1109/ICIEA51954.2021.9516164

Prescribed Performance Bound-based Adaptive Tracking Control of a Mobile Robot with Visibility Constraints

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