.png){kind=icon}
返回
Tracking Error Learning Control for Precise Mobile Robot Path Tracking in Outdoor Environment
.png){kind=icon}
OA
AI
DOI：10.1007/s10846-018-0916-3.png)
.png){kind=icon}
.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
This paper presents a Tracking-Error Learning Control (TELC) algorithm for precise mobile robot path tracking in off-road terrain. In traditional tracking error-based control approaches, feedback and feedforward controllers are designed based on the nominal model which cannot capture the uncertainties, disturbances and changing working conditions so that they cannot ensure precise path tracking performance in the outdoor environment. In TELC algorithm, the feedforward control actions are updated by using the tracking error dynamics and the plant-model mismatch problem is thus discarded. Therefore, the feedforward controller gradually eliminates the feedback controller from the control of the system once the mobile robot has been on-track. In addition to the proof of the stability, it is proven that the cost functions do not have local minima so that the coefficients in TELC algorithm guarantee that the global minimum is reached. The experimental results show that the TELC algorithm results in better path tracking performance than the traditional tracking error-based control method. The mobile robot controlled by TELC algorithm can track a target path precisely with less than 10 cm error in off-road terrain.
Keyword:
Learning control
Mobile robot
Path tracking
Tracking error
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
J
IF:
2.8
论文数:
3.8K
被引数:
6.9K
机构
引用论文
.png){kind=icon}
分享收藏Modelling and Control Strategies in Path Tracking Control for Autonomous Ground Vehicles: A Review of State of the Art and Challenges自主地面车辆路径跟踪控制中的建模和控制策略: 最新技术和挑战的回顾
PREAI
分享收藏Robust Tube-Based Decentralized Nonlinear Model Predictive Control of an Autonomous Tractor-Trailer System自主牵引车-拖车系统的鲁棒基于管的分散非线性模型预测控制OAAI
OAAI分享收藏Robust Trajectory Tracking Error Model-Based Predictive Control for Unmanned Ground Vehicles基于轨迹跟踪误差模型的地面无人驾驶车辆鲁棒预测控制OAAI
OAAI分享收藏Global Formulation of an Extended Kalman Filter on SE(3) for Geometric Control of a Quadrotor UAV
PREAI
分享收藏Robust Stabilization of a Wheeled Mobile Robot Using Model Predictive Control Based on Neurodynamics Optimization基于神经动力学优化的模型预测控制轮式移动机器人鲁棒镇定OAAI
OAAI分享收藏
查看更多内容