eprintid: 1207
rev_number: 8
eprint_status: archive
userid: 37
dir: disk0/00/00/12/07
datestamp: 2012-03-02 15:10:30
lastmod: 2013-09-30 12:37:32
status_changed: 2012-03-02 15:10:30
type: article
metadata_visibility: show
creators_name: Rubagotti, Matteo
creators_name: Della Vedova, Marco L.
creators_name: Ferrara, Antonella
title: Time-optimal sliding-mode control of a mobile robot in a dynamic environment
ispublished: pub
subjects: QA75
subjects: TJ
divisions: CSA
full_text_status: none
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
abstract: 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.
date: 2011-10
date_type: published
publication: IET Control Theory and Applications
volume: 5
number: 16
publisher: Institution of Engineering and Technology (IET) 
pagerange: 1916 -1924
id_number: 10.1049/iet-cta.2010.0678
refereed: TRUE
issn: 1751-8644
official_url: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6042770&isnumber=6042759
citation:   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)