Predictive Feedback Linearization Tracking Control for WMR Systems with Control Delay

This article addresses the control design problem for nonlinear wheeled mobile robot (WMR) tracking with a control delay. The tracking model is built by WMR dynamical equation. The state-space representations of the controlled WMR motion system and the dynamical target system are obtained by transfo...

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Bibliographic Details
Published inIntegrated ferroelectrics Vol. 217; no. 1; pp. 279 - 288
Main Authors Huang, Yu-Mei, Lei, Jing
Format Journal Article
LanguageEnglish
Published Philadelphia Taylor & Francis 13.06.2021
Taylor & Francis Ltd
Subjects
Control systems
Controllers
Delay
Feedback linearization
High gain
high-gain predictor
Motion systems
Output feedback
Predictive control
State feedback
State space models
time delay
Tracking
Tracking control
Tracking errors
WMR
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Summary:This article addresses the control design problem for nonlinear wheeled mobile robot (WMR) tracking with a control delay. The tracking model is built by WMR dynamical equation. The state-space representations of the controlled WMR motion system and the dynamical target system are obtained by transformations. Then, the tracking error system with control delay is achieved and a feedback linearization delayed control is presented. The physical implement problem of the predictive control is solved by constructing a high-gain predictor, based on which the predicted states in feedback linearization controllers are estimated by the predictive states. The simulation results demonstrate that the physical implement problem are solved well by using high-gain predictor. The target path are successfully tracked by the designed feedback linearization controllers of state feedback and output feedback.
ISSN:1058-4587
1607-8489
DOI:10.1080/10584587.2021.1911329