Search results for "nonholonomic wheeled"
showing 3 items of 3 documents
Hibrid Adaptive/EKF Motion Control and Data Fusion for Ground Vehicles with Kinematical and Dynamical Uncertainties
2006
This paper considers the motion control problem of ground vehicles with nonholonomic constraints and parametric uncertainties both in the kinematic and in the dynamic model. The presence of uncertainties above is treated using adaptation laws where the Lyapunov's stability of the position and orientation errors is proved. Now, if the feedback signals are position and orientation provided by incremental encoders only, then noises of the odometric sensors above can damage the control in terms of difference between the desired and the actual motion of the vehicle and in terms of performances of the parametric adaptation. So an extended Kalman's filter (EKF) is inserted in the feedback for meas…
Noised Trajectory tracking Control based on Fuzzy Lyapunov approach for Wheeled Vehicles
2005
This paper solves a trajectory tracking control problem whit outside perturbations for wheeled nonholonomic vehicles using a Fuzzy Lyapunov method. Trough a symbiosis between classical backstepping techniques and fuzzy logic, the control system ensures a good robustness with respect to outside perturbations. Possible causes of perturbations are the characteristics of the ground and the contact between the wheels and the ground. These perturbations can interact with the vehicle, they are sources of uncertainty for the system model and can perturb the validity of the nonholonomic constraints. The convergence of the tracking errors to the origin and the asymptotic stability of the equilibrium …
Fuzzy EKF Control for Wheeled Nonholonomic Vehicles
2006
In this paper a new Fuzzy extended Kalman robust control system for position and orientation tracking of nonholonomic vehicles with two wheels actuated by two independent DC motors is presented. The problem of robustness and localization are solved simultaneously. About the robustness, some perturbations coming from the outside environment and depending on the contact between the wheels and the ground, involve violations of the nonholonomic constraints. The fuzzy controller of this work is able to obtain a dynamic term of robustness with respect to the perturbations above. However, by using encoders only, the measures of actual position and orientation of the vehicle are with Gaussian noise…