TY  - JOUR
KW  - 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
IS  - 16
UR  - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6042770&isnumber=6042759
TI  - Time-optimal sliding-mode control of a mobile robot in a dynamic environment
ID  - eprints1207
AV  - none
A1  - Rubagotti, Matteo
A1  - Della Vedova, Marco L.
A1  - Ferrara, Antonella
SP  - 1916 
VL  - 5
EP  - 1924
PB  - Institution of Engineering and Technology (IET) 
N2  - 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.
JF  - IET Control Theory and Applications
Y1  - 2011/10//
SN  - 1751-8644
ER  -