Control Synthesis of Nonholonomic Mobile Robots Under Time-Varying Delays and Input Saturation: Experimental Validation
This paper presents a new control synthesis methodology for nonholonomic mobile robots subjected to time-varying delays and input saturation constraints. The proposed control method is based on smooth static nonlinear functions, leading to a simpler structure than other available control strategies...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2024-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10462134/ |
| _version_ | 1797243470279081984 |
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| author | Antonio Gonzalez-Sorribes Rafael Carbonell Angel Cuenca Julian Salt |
| author_facet | Antonio Gonzalez-Sorribes Rafael Carbonell Angel Cuenca Julian Salt |
| author_sort | Antonio Gonzalez-Sorribes |
| collection | DOAJ |
| description | This paper presents a new control synthesis methodology for nonholonomic mobile robots subjected to time-varying delays and input saturation constraints. The proposed control method is based on smooth static nonlinear functions, leading to a simpler structure than other available control strategies for this class of systems. In addition, the convergence to a certain target position with guaranteed exponential decay rate can be proved for any orientation error. To this end, a nonlinear Lyapunov-Krasovskii functional has specifically been designed to deal with the inherent discontinuity of the kinematics model as well as the presence of time-varying delays. Thus, the control design can efficiently be addressed by means of Linear Matrix Inequalities (LMIs). Finally, the effectiveness of the proposed control design algorithm is validated through simulation and experimentally using a two-wheeled mobile robot. |
| first_indexed | 2024-04-24T18:55:37Z |
| format | Article |
| id | doaj.art-d30b05c0384348838890b42513d94980 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-24T18:55:37Z |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-d30b05c0384348838890b42513d949802024-03-26T17:44:25ZengIEEEIEEE Access2169-35362024-01-0112402554026610.1109/ACCESS.2024.337438610462134Control Synthesis of Nonholonomic Mobile Robots Under Time-Varying Delays and Input Saturation: Experimental ValidationAntonio Gonzalez-Sorribes0https://orcid.org/0000-0003-2690-0472Rafael Carbonell1https://orcid.org/0000-0002-2573-5041Angel Cuenca2https://orcid.org/0000-0003-4466-2666Julian Salt3Instituto de Automática e Informática Industrial, Universitat Politècnica de València, Valencia, SpainInstituto de Automática e Informática Industrial, Universitat Politècnica de València, Valencia, SpainInstituto de Automática e Informática Industrial, Universitat Politècnica de València, Valencia, SpainInstituto de Automática e Informática Industrial, Universitat Politècnica de València, Valencia, SpainThis paper presents a new control synthesis methodology for nonholonomic mobile robots subjected to time-varying delays and input saturation constraints. The proposed control method is based on smooth static nonlinear functions, leading to a simpler structure than other available control strategies for this class of systems. In addition, the convergence to a certain target position with guaranteed exponential decay rate can be proved for any orientation error. To this end, a nonlinear Lyapunov-Krasovskii functional has specifically been designed to deal with the inherent discontinuity of the kinematics model as well as the presence of time-varying delays. Thus, the control design can efficiently be addressed by means of Linear Matrix Inequalities (LMIs). Finally, the effectiveness of the proposed control design algorithm is validated through simulation and experimentally using a two-wheeled mobile robot.https://ieeexplore.ieee.org/document/10462134/Time delay systemscontrol synthesisnonholonomic mobile robotLyapunov-Krasovskii functionallinear matrix inequalities |
| spellingShingle | Antonio Gonzalez-Sorribes Rafael Carbonell Angel Cuenca Julian Salt Control Synthesis of Nonholonomic Mobile Robots Under Time-Varying Delays and Input Saturation: Experimental Validation IEEE Access Time delay systems control synthesis nonholonomic mobile robot Lyapunov-Krasovskii functional linear matrix inequalities |
| title | Control Synthesis of Nonholonomic Mobile Robots Under Time-Varying Delays and Input Saturation: Experimental Validation |
| title_full | Control Synthesis of Nonholonomic Mobile Robots Under Time-Varying Delays and Input Saturation: Experimental Validation |
| title_fullStr | Control Synthesis of Nonholonomic Mobile Robots Under Time-Varying Delays and Input Saturation: Experimental Validation |
| title_full_unstemmed | Control Synthesis of Nonholonomic Mobile Robots Under Time-Varying Delays and Input Saturation: Experimental Validation |
| title_short | Control Synthesis of Nonholonomic Mobile Robots Under Time-Varying Delays and Input Saturation: Experimental Validation |
| title_sort | control synthesis of nonholonomic mobile robots under time varying delays and input saturation experimental validation |
| topic | Time delay systems control synthesis nonholonomic mobile robot Lyapunov-Krasovskii functional linear matrix inequalities |
| url | https://ieeexplore.ieee.org/document/10462134/ |
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