Exponential Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots
Trajectory tracking control is important in order to realize autonomous driving of mobile robots. From a control standpoint, trajectory tracking can be stated as the problem of stabilizing a tracking error system that describes both position and orientation errors of the mobile robot with respect to...
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MDPI AG
2024-12-01
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| author | Plamen Petrov Ivan Kralov |
| author_facet | Plamen Petrov Ivan Kralov |
| author_sort | Plamen Petrov |
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| description | Trajectory tracking control is important in order to realize autonomous driving of mobile robots. From a control standpoint, trajectory tracking can be stated as the problem of stabilizing a tracking error system that describes both position and orientation errors of the mobile robot with respect to a time-parameterized path. In this paper, we address the problem for the trajectory tracking of nonholonomic wheeled mobile robots, and an exponential trajectory tracking controller is designed. The stability analysis is concerned with studying the local exponential stability property of a cascade system, provided that two isolated subsystems are exponentially stable and under certain bound conditions for the interconnection term. A theoretical stability analysis of the dynamic behaviors of the closed-loop system is provided based on the Lyapunov stability theory, and an exponential stability result is proven. An explicit estimate of the set of feasible initial conditions for the error variables is determined. Simulation results for verification of the proposed tracking controller under different operating conditions are given. The obtained results show that the problem of trajectory tracking control of nonholonomic wheeled mobile robots is solved over a large class of reference trajectories with fast convergence and good transient performance. |
| format | Article |
| id | doaj-art-4a9d382c165a404f9b1f6ae16e3f7b0b |
| institution | Kabale University |
| issn | 2227-7390 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
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| series | Mathematics |
| spelling | doaj-art-4a9d382c165a404f9b1f6ae16e3f7b0b2025-01-10T13:17:55ZengMDPI AGMathematics2227-73902024-12-01131110.3390/math13010001Exponential Trajectory Tracking Control of Nonholonomic Wheeled Mobile RobotsPlamen Petrov0Ivan Kralov1Faculty of Mechanical Engineering, University of Sofia, 8 Kliment Ohridski Boulevard, 1000 Sofia, BulgariaDepartment of Mechanics, Technical University of Sofia, 8 Kliment Ohridski Boulevard, 1000 Sofia, BulgariaTrajectory tracking control is important in order to realize autonomous driving of mobile robots. From a control standpoint, trajectory tracking can be stated as the problem of stabilizing a tracking error system that describes both position and orientation errors of the mobile robot with respect to a time-parameterized path. In this paper, we address the problem for the trajectory tracking of nonholonomic wheeled mobile robots, and an exponential trajectory tracking controller is designed. The stability analysis is concerned with studying the local exponential stability property of a cascade system, provided that two isolated subsystems are exponentially stable and under certain bound conditions for the interconnection term. A theoretical stability analysis of the dynamic behaviors of the closed-loop system is provided based on the Lyapunov stability theory, and an exponential stability result is proven. An explicit estimate of the set of feasible initial conditions for the error variables is determined. Simulation results for verification of the proposed tracking controller under different operating conditions are given. The obtained results show that the problem of trajectory tracking control of nonholonomic wheeled mobile robots is solved over a large class of reference trajectories with fast convergence and good transient performance.https://www.mdpi.com/2227-7390/13/1/1trajectory trackingnonholonomic wheeled mobile robotexponential stabilization |
| spellingShingle | Plamen Petrov Ivan Kralov Exponential Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots Mathematics trajectory tracking nonholonomic wheeled mobile robot exponential stabilization |
| title | Exponential Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots |
| title_full | Exponential Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots |
| title_fullStr | Exponential Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots |
| title_full_unstemmed | Exponential Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots |
| title_short | Exponential Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots |
| title_sort | exponential trajectory tracking control of nonholonomic wheeled mobile robots |
| topic | trajectory tracking nonholonomic wheeled mobile robot exponential stabilization |
| url | https://www.mdpi.com/2227-7390/13/1/1 |
| work_keys_str_mv | AT plamenpetrov exponentialtrajectorytrackingcontrolofnonholonomicwheeledmobilerobots AT ivankralov exponentialtrajectorytrackingcontrolofnonholonomicwheeledmobilerobots |