@inproceedings{5427cd9eb8b943debf02425baffd8921,
title = "Trajectory Tracking Control for Omnidirectional Mobile Robots with Full-State Constraints",
abstract = "This paper presents an adaptive tracking controller for a class of omnidirectional mobile robots with full-state constraints, model uncertainties and external disturbances. Kinematics and dynamics of three-wheel omnidirectional mobile robots are considered in the paper. And the adaptive estimation law is designed to deal with disturbances where the bounds of disturbances are unknown. Meanwhile, the control method based on barrier Lyapunov function is applied to prevent the states from violating restrictive conditions. All signals in tracking system are proved to be uniformly bounded with the proposed controller. The tracking performance will be guaranteed and the tracking errors will be sufficiently small by choosing suitable controller parameters. Simulation results validate the effectiveness and the robustness of the proposed control method.",
keywords = "Adaptive control, Barrier lyapunov function, Full-state constraints, Omnidirectional mobile robot, Tracking control",
author = "Wenhao Zheng and Yingmin Jia",
note = "Publisher Copyright: {\textcopyright} 2018, Springer Nature Singapore Pte Ltd.; Chinese Intelligent Automation Conference, CIAC 2017 ; Conference date: 02-06-2017 Through 04-06-2017",
year = "2018",
doi = "10.1007/978-981-10-6445-6\_66",
language = "英语",
isbn = "9789811064449",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Verlag",
pages = "605--612",
editor = "Zhidong Deng",
booktitle = "Proceedings of 2017 Chinese Intelligent Automation Conference",
address = "德国",
}