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Time-optimal sliding-mode control of a mobile robot in a dynamic environment

Rubagotti, Matteo and Della Vedova, Marco L. and Ferrara, Antonella Time-optimal sliding-mode control of a mobile robot in a dynamic environment. IET Control Theory and Applications, 5 (16). 1916 -1924. ISSN 1751-8644 (2011)

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In this study, an original strategy to control a mobile robot in a dynamic environment is presented. The strategy consists of two main elements. The first is the method for the online trajectory generation based on harmonic potential fields, capable of generating velocity and orientation references, which extends classical results on harmonic potential fields for the case of static environments to the case when the presence of a moving obstacle with unknown motion is considered. The second is the design of sliding-mode controllers capable of making the controlled variables of the robot track in a finite minimum time both the velocity and the orientation references.

Item Type: Article
Identification Number: 10.1049/iet-cta.2010.0678
Uncontrolled Keywords: dynamic environment; finite minimum time; harmonic potential fields; mobile robot track; online trajectory generation; orientation reference; sliding mode controller design; time optimal sliding mode control; control system synthesis; mobile robots; optimal control; variable structure systems
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TJ Mechanical engineering and machinery
Research Area: Computer Science and Applications
Depositing User: Users 37 not found.
Date Deposited: 02 Mar 2012 15:10
Last Modified: 30 Sep 2013 12:37
URI: http://eprints.imtlucca.it/id/eprint/1207

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