Shared control for the kinematic and dynamic models of a mobile robot
File(s)paper1.pdf (820.56 KB)
Accepted version
Author(s)
Jiang, J
Di Franco, P
Astolfi, A
Type
Journal Article
Abstract
This paper presents shared-control algorithms for the kinematic and dynamic models of a mobile robot with a feasible configuration set defined by means of linear inequalities. The shared-control laws based on a hysteresis switch are designed in the case in which absolute positions are not available. Instead, we measure the distances to obstacles and angular differences. Formal properties of the closed-loop systems with the shared control are established by a Lyapunov-like analysis. Simulation results and experimental results are presented to show the effectiveness of the algorithm.
Date Issued
2016-03-18
Date Acceptance
2016-01-29
Citation
IEEE Transactions on Control Systems Technology, 2016, 24 (6), pp.2112-2124
ISSN
1063-6536
Publisher
IEEE
Start Page
2112
End Page
2124
Journal / Book Title
IEEE Transactions on Control Systems Technology
Volume
24
Issue
6
Copyright Statement
© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Subjects
Science & Technology
Technology
Automation & Control Systems
Engineering, Electrical & Electronic
Engineering
Collision avoidance
control constraints
nonlinear control system
robot motion
shared control
CHAINED SYSTEMS
Industrial Engineering & Automation
0906 Electrical And Electronic Engineering
0102 Applied Mathematics
Publication Status
Published