Synchronized closed path following for a differential drive and manipulator robot
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Date
2016-05-23
Authors
Li, Yuqian
Nielsen, Christopher
Advisor
Journal Title
Journal ISSN
Volume Title
Publisher
IEEE
Abstract
We locally solve a synchronized path-following problem for a heterogeneous multiagent system consisting of a differential drive robot and a serial manipulator. Each is assigned a simple, regular, and closed curve in its output space. The outputs of the systems must approach and traverse their assigned curves while synchronizing their motions along the paths. We use the notion of path-following outputs to facilitate a solution and present a novel synchronization controller and a novel singularity avoidance controller. The controllers are all given in closed form making their implementation straightforward. A numerical simulation is presented, which includes modeling uncertainty to demonstrate the utility of this approach.
Description
Li, Y., & Nielsen, C. (2017). Synchronized Closed Path Following for a Differential Drive and Manipulator Robot. IEEE Transactions on Control Systems Technology, 25(2), 704–711. https://doi.org/10.1109/TCST.2016.2562578
Keywords
Feedback linearization, nonlinear control, path following, robotics, synchronization