Non-Linear Prediction-Based Trajectory Tracking for Non-Holonomic Mobile Robots
This work addresses the trajectory tracking problem for a non-holonomic differential drive mobile robot with a constant time delay <inline-formula> <tex-math notation="LaTeX">$h$ </tex-math></inline-formula> at the input signal. To compensate for the adverse effects...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10309126/ |
| _version_ | 1797629013228781568 |
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| author | Julio A. Baez-Hernandez Martin Velasco-Villa Sabine Mondie |
| author_facet | Julio A. Baez-Hernandez Martin Velasco-Villa Sabine Mondie |
| author_sort | Julio A. Baez-Hernandez |
| collection | DOAJ |
| description | This work addresses the trajectory tracking problem for a non-holonomic differential drive mobile robot with a constant time delay <inline-formula> <tex-math notation="LaTeX">$h$ </tex-math></inline-formula> at the input signal. To compensate for the adverse effects of the input time delay on the vehicle, a non-linear prediction-observer scheme based on a sub-prediction strategy that asymptotically estimates the future values of the state, <inline-formula> <tex-math notation="LaTeX">$h$ </tex-math></inline-formula> units of time ahead was introduced, and, thanks to the characteristics of the system, a condition which depends only on the gains of the predictor-observer is obtained for the convergence of the predicted states. Non-linear feedback based on the estimated future state is proposed to tackle the trajectory tracking problem of a mobile robot. The closed-loop system describing the prediction strategy and trajectory tracking solution was formally analyzed, showing the asymptotic convergence of the prediction and tracking errors to the origin. Numerical and real-time experiments were performed to evaluate the prediction-based control scheme, which show adequate performance. |
| first_indexed | 2024-03-11T10:48:22Z |
| format | Article |
| id | doaj.art-c0b5d1801bf74768aa05698c847fdf95 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-11T10:48:22Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-c0b5d1801bf74768aa05698c847fdf952023-11-14T00:01:12ZengIEEEIEEE Access2169-35362023-01-011112426512427710.1109/ACCESS.2023.333014510309126Non-Linear Prediction-Based Trajectory Tracking for Non-Holonomic Mobile RobotsJulio A. Baez-Hernandez0https://orcid.org/0009-0009-1434-5935Martin Velasco-Villa1https://orcid.org/0000-0003-2953-0964Sabine Mondie2https://orcid.org/0000-0002-0968-1899Electrical Engineering Department, Center for Research and Advanced Studies of the National Polytechnic Institute, Mexico City, MexicoElectrical Engineering Department, Center for Research and Advanced Studies of the National Polytechnic Institute, Mexico City, MexicoAutomatic Control Department, Center for Research and Advanced Studies of the National Polytechnic Institute, Mexico City, MexicoThis work addresses the trajectory tracking problem for a non-holonomic differential drive mobile robot with a constant time delay <inline-formula> <tex-math notation="LaTeX">$h$ </tex-math></inline-formula> at the input signal. To compensate for the adverse effects of the input time delay on the vehicle, a non-linear prediction-observer scheme based on a sub-prediction strategy that asymptotically estimates the future values of the state, <inline-formula> <tex-math notation="LaTeX">$h$ </tex-math></inline-formula> units of time ahead was introduced, and, thanks to the characteristics of the system, a condition which depends only on the gains of the predictor-observer is obtained for the convergence of the predicted states. Non-linear feedback based on the estimated future state is proposed to tackle the trajectory tracking problem of a mobile robot. The closed-loop system describing the prediction strategy and trajectory tracking solution was formally analyzed, showing the asymptotic convergence of the prediction and tracking errors to the origin. Numerical and real-time experiments were performed to evaluate the prediction-based control scheme, which show adequate performance.https://ieeexplore.ieee.org/document/10309126/Non-holonomic mobile robotnon-linear predictiontime delaystrajectory tracking |
| spellingShingle | Julio A. Baez-Hernandez Martin Velasco-Villa Sabine Mondie Non-Linear Prediction-Based Trajectory Tracking for Non-Holonomic Mobile Robots IEEE Access Non-holonomic mobile robot non-linear prediction time delays trajectory tracking |
| title | Non-Linear Prediction-Based Trajectory Tracking for Non-Holonomic Mobile Robots |
| title_full | Non-Linear Prediction-Based Trajectory Tracking for Non-Holonomic Mobile Robots |
| title_fullStr | Non-Linear Prediction-Based Trajectory Tracking for Non-Holonomic Mobile Robots |
| title_full_unstemmed | Non-Linear Prediction-Based Trajectory Tracking for Non-Holonomic Mobile Robots |
| title_short | Non-Linear Prediction-Based Trajectory Tracking for Non-Holonomic Mobile Robots |
| title_sort | non linear prediction based trajectory tracking for non holonomic mobile robots |
| topic | Non-holonomic mobile robot non-linear prediction time delays trajectory tracking |
| url | https://ieeexplore.ieee.org/document/10309126/ |
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