Tracking control for wheeled mobile robot based on delayed sensor measurements

Guechi, El-Hadi (author), Belharet, Karim (author), Blažič, Sašo (author)

This paper proposes a novel Takagi-Sugeno fuzzy predictor observer to tackle the problem of the constant and known delay in the measurements. The proposed observer is developed for a trajectory-tracking problem of a wheeled mobile robot where a parallel-distributed compensation control is used to control the robot. The L2-stability of the proposed observer is also proven in the paper. Both, the control and the observer gains are obtained by solving the proposed system of linear matrix inequalities. To illustrate the efficiency of the proposed approach, an experimental comparison with another predictor observer was done.

• Language: English
• Keywords: delayed sensor measurements, nonholonomic mobile robot, predictor observer, PDC control, trajectory tracking
• Work type: Article
• Typology: 1.01 - Original Scientific Article
• Organization: FE - Faculty of Electrical Engineering
• Publication status: Published
• Publication version: Version of Record
• Year: 2019
• Number of pages: 21 str.
• Numbering: Vol. 19, iss. 23, art. 5177
• PID: 20.500.12556/RUL-133116
• UDC: 007.52
• ISSN on article: 1424-8220
• DOI: 10.3390/s19235177
• COBISS.SI-ID: 12753748
• Publication date in RUL: 11.11.2021

Record is a part of a journal

• Title: Sensors
• Shortened title: Sensors
• Publisher: MDPI
• ISSN: 1424-8220
• COBISS.SI-ID: 10176278

Licences

• License: CC BY 4.0, Creative Commons Attribution 4.0 International
• Link: http://creativecommons.org/licenses/by/4.0/
• Description: This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.
• Licensing start date: 01.12.2019

Secondary language

• Language: Slovenian
• Keywords: zakasnjene senzorske meritve, neholonomični mobilni robot, prediktor observator, PDC vodenje, sledenje trajektoriji

Projects

• Funder: Other - Other funder or multiple funders
• Funding programme: PHC Tassili
• Project number: 43790QB

• Funder: ARRS - Slovenian Research Agency
• Project number: P2-0219
• Name: Modeliranje, simulacija in vodenje procesov