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

^*此作品的通讯作者

自动化科学与电气工程学院

Beihang University
Southwest University

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

1 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	Proceedings of the 36th Chinese Control Conference, CCC 2017
编辑	Tao Liu, Qianchuan Zhao
出版商	IEEE Computer Society
页	872-877
页数	6
ISBN（电子版）	9789881563934
DOI	https://doi.org/10.23919/ChiCC.2017.8027455
出版状态	已出版 - 7 9月 2017
活动	36th Chinese Control Conference, CCC 2017 - Dalian, 中国期限: 26 7月 2017 → 28 7月 2017

出版系列

姓名	Chinese Control Conference, CCC
ISSN（印刷版）	1934-1768
ISSN（电子版）	2161-2927

会议

会议	36th Chinese Control Conference, CCC 2017
国家/地区	中国
市	Dalian
时期	26/07/17 → 28/07/17

访问文件

10.23919/ChiCC.2017.8027455

其它文件与链接

链接到 Scopus 的出版物

引用此

@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. 在 T Liu & Q Zhao (编辑), Proceedings of the 36th Chinese Control Conference, CCC 2017., 8027455, Chinese Control Conference, CCC, IEEE Computer Society, 页码 872-877, 36th Chinese Control Conference, CCC 2017, Dalian, 中国, 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 等.
Proceedings of the 36th Chinese Control Conference, CCC 2017. 编辑 / Tao Liu; Qianchuan Zhao. IEEE Computer Society, 2017. 页码 872-877 8027455 (Chinese Control Conference, CCC).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

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

摘要

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