DOI 10.17586/0021-3454-2022-65-7-500-512
UDC 681.51
SYNTHESIS OF AN ALGORITHM FOR ROBUST CONTROL OF A MOBILE ROBOT MOVEMENT ALONG A SMOOTH TRAJECTORY
ITMO University, Saint Petersburg, 197101, Russian Federation; Postgraduate
A. A. Pyrkin
ITMO University, Saint Petersburg, 197101, Russian Federation; Professor, Dean
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Abstract. The problem of trajectory control of the movement of a mobile robot along a given continuous trajectory is considered. Mathematical model of the robot's movement may contain unknown parameters, and the movement trajectory is an arbitrary continuous curve with limited curvature. For presented nonlinear model of robot movement, transformation of the model to the normal form allows for synthesizing a robust controller using the extended observer method. The obtained control algorithm ensures the robot movement along a continuous trajectory with an error limited in the steady state, the maximum value of the error can be adjusted using the tuning parameters.
Keywords: trajectory control, robust output-control, extended observer, wheeled mobile robot
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