DOI 10.17586/0021-3454-2021-64-8-608-619
UDC 681.51
TRAJECTORY CONTROL OF A MOBILE ROBOT UNDER CONDITIONS OF UNCERTAINTY
ITMO University, Saint Petersburg, 197101, Russian Federation; Postgraduate
A. A. Pyrkin
ITMO University, Saint Petersburg, 197101, Russian Federation; Full Professor, Dean
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Abstract. The problem of controlling the movement of a mobile robot along a given smooth trajectory with a desired speed under the conditions of uncertainty of the mathematical model is analyzed. Two approaches to determining the minimum distance from the robot to the trajectory are considered: an exact analytical calculation and application of a nonlinear observer which guarantees the convergence of current estimate to the true value in an arbitrarily short time. A motion control algorithm is presented based on the sequential compensator method, which ensures a limited deviations of the robot from a given trajectory.
Keywords: robust control, trajectory control, mobile robot
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