Time-optimal sliding-mode control of a mobile robot in a dynamic environment

M. Rubagotti, M. L. Della Vedova, A. Ferrara

Research output: Contribution to journalArticle

22 Citations (Scopus)

Abstract

In this study, an original strategy to control a mobile robot in a dynamic environment is presented. The strategy consists of two main elements. The first is the method for the online trajectory generation based on harmonic potential fields, capable of generating velocity and orientation references, which extends classical results on harmonic potential fields for the case of static environments to the case when the presence of a moving obstacle with unknown motion is considered. The second is the design of sliding-mode controllers capable of making the controlled variables of the robot track in a finite minimum time both the velocity and the orientation references.

Original languageEnglish
Pages (from-to)1916-1924
Number of pages9
JournalIET Control Theory and Applications
Volume5
Issue number16
DOIs
Publication statusPublished - Nov 3 2011
Externally publishedYes

Fingerprint

Harmonic Potential
Time-optimal Control
Potential Field
Sliding mode control
Sliding Mode Control
Dynamic Environment
Mobile Robot
Mobile robots
Trajectory Generation
Sliding Mode
Robot
Trajectories
Robots
Controller
Unknown
Controllers
Motion
Strategy
Design

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Control and Optimization
  • Electrical and Electronic Engineering

Cite this

Time-optimal sliding-mode control of a mobile robot in a dynamic environment. / Rubagotti, M.; Della Vedova, M. L.; Ferrara, A.

In: IET Control Theory and Applications, Vol. 5, No. 16, 03.11.2011, p. 1916-1924.

Research output: Contribution to journalArticle

Rubagotti, M. ; Della Vedova, M. L. ; Ferrara, A. / Time-optimal sliding-mode control of a mobile robot in a dynamic environment. In: IET Control Theory and Applications. 2011 ; Vol. 5, No. 16. pp. 1916-1924.
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