Title :
UKF based estimation and tracking control of nonholonomic mobile robots with slipping
Author :
Zhou, Bo ; Peng, Yan ; Han, Jianda
Author_Institution :
Robot. Lab., Chinese Acad. of Sci., Shenyang
Abstract :
A kinematic model of tracked vehicles is established in this paper, in which both longitudinal and lateral slipping is considered and processed as three time-varying parameters. Unscented Kalman filter is then introduced to real time estimate the pose and slipping parameters jointly. A stable tracking control law for this nonholonomic system is proposed and the asymptotic stability is guaranteed by Lyapunov theory. Simulation results show the efficiency and robustness of the proposed method.
Keywords :
Kalman filters; Lyapunov methods; asymptotic stability; mobile robots; parameter estimation; robot kinematics; time-varying systems; tracking; Lyapunov theory; asymptotic stability; kinematic model; longitudinal-lateral slipping; nonholonomic mobile robots; pose estimation; simulation; stable tracking control law; time-varying parameter estimation; unscented Kalman filter; Asymptotic stability; Biomimetics; Control systems; Kinematics; Laboratories; Mobile robots; Remotely operated vehicles; Robotics and automation; Robustness; Vehicle dynamics; Nonholonomic mobile robot; Nonlinear estimation; Tracking control; Unscented Kalman filter;
Conference_Titel :
Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on
Conference_Location :
Sanya
Print_ISBN :
978-1-4244-1761-2
Electronic_ISBN :
978-1-4244-1758-2
DOI :
10.1109/ROBIO.2007.4522485
