Trajectory Tracking Controller Design for Unmanned Vehicles: A New Methodology

Autores
Auat Cheein, Fernando Alfredo; Scaglia, Gustavo Juan Eduardo
Año de publicación
2014
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
A major issue in the automatic guidance of vehicles is the design of control laws dedicated to the specific mobile platform used. Thus, if the model associated with the mobile platform or its constraints change, a new control law must be designed. In this paper, the problem of designing trajectory tracking controllers for unmanned vehicles is addressed. The methodology proposed here is an algebraic approach for obtaining optimum and stable trajectory tracking controllers for nonholonomic vehicles. Such an algebraic formulation makes the proposal suitable for embedded applications. The stability and optimality of the proposed controllers design method is theoretically proven for both bicycle-type and unicycle-type mobile robots, although the methodology can be extended to other types of unmanned vehicles. Four tests were carried out in this work in order to show the advantages of the proposal: the step discontinuity test, the curvature test, the real world test, and navigation under disturbances in the control actions. The results obtained were compared with four trajectory tracking controllers previously published in the literature. Additionally, an agricultural application is included in order to show the performance of the proposed controller when applied to a service unit within an agricultural environment. Field experiments demonstrating the capabilities of our proposal are also reported and discussed.
Fil: Auat Cheein, Fernando Alfredo. Universidad Técnica Federico Santa María; Chile. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan; Argentina
Materia
Trajectory Control
Mobile Robots
Non-Holonomic Vehicles
Bicycle Type And Unicycle Type Mobile Robots
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/37207
Acceder
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network_name_str CONICET Digital (CONICET)
spelling Trajectory Tracking Controller Design for Unmanned Vehicles: A New MethodologyAuat Cheein, Fernando AlfredoScaglia, Gustavo Juan EduardoTrajectory ControlMobile RobotsNon-Holonomic VehiclesBicycle Type And Unicycle Type Mobile Robotshttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2A major issue in the automatic guidance of vehicles is the design of control laws dedicated to the specific mobile platform used. Thus, if the model associated with the mobile platform or its constraints change, a new control law must be designed. In this paper, the problem of designing trajectory tracking controllers for unmanned vehicles is addressed. The methodology proposed here is an algebraic approach for obtaining optimum and stable trajectory tracking controllers for nonholonomic vehicles. Such an algebraic formulation makes the proposal suitable for embedded applications. The stability and optimality of the proposed controllers design method is theoretically proven for both bicycle-type and unicycle-type mobile robots, although the methodology can be extended to other types of unmanned vehicles. Four tests were carried out in this work in order to show the advantages of the proposal: the step discontinuity test, the curvature test, the real world test, and navigation under disturbances in the control actions. The results obtained were compared with four trajectory tracking controllers previously published in the literature. Additionally, an agricultural application is included in order to show the performance of the proposed controller when applied to a service unit within an agricultural environment. Field experiments demonstrating the capabilities of our proposal are also reported and discussed.Fil: Auat Cheein, Fernando Alfredo. Universidad Técnica Federico Santa María; Chile. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan; ArgentinaJohn Wiley & Sons Inc2014-11info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/vnd.rarapplication/pdfhttp://hdl.handle.net/11336/37207Auat Cheein, Fernando Alfredo; Scaglia, Gustavo Juan Eduardo; Trajectory Tracking Controller Design for Unmanned Vehicles: A New Methodology; John Wiley & Sons Inc; Journal Of Field Robotics; 31; 6; 11-2014; 861-8871556-4959CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.1002/rob.21492info:eu-repo/semantics/altIdentifier/url/http://onlinelibrary.wiley.com/doi/10.1002/rob.21492/abstractinfo:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T09:59:16Zoai:ri.conicet.gov.ar:11336/37207instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 09:59:16.639CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Trajectory Tracking Controller Design for Unmanned Vehicles: A New Methodology
title Trajectory Tracking Controller Design for Unmanned Vehicles: A New Methodology
spellingShingle Trajectory Tracking Controller Design for Unmanned Vehicles: A New Methodology
Auat Cheein, Fernando Alfredo
Trajectory Control
Mobile Robots
Non-Holonomic Vehicles
Bicycle Type And Unicycle Type Mobile Robots
title_short Trajectory Tracking Controller Design for Unmanned Vehicles: A New Methodology
title_full Trajectory Tracking Controller Design for Unmanned Vehicles: A New Methodology
title_fullStr Trajectory Tracking Controller Design for Unmanned Vehicles: A New Methodology
title_full_unstemmed Trajectory Tracking Controller Design for Unmanned Vehicles: A New Methodology
title_sort Trajectory Tracking Controller Design for Unmanned Vehicles: A New Methodology
dc.creator.none.fl_str_mv Auat Cheein, Fernando Alfredo
Scaglia, Gustavo Juan Eduardo
author Auat Cheein, Fernando Alfredo
author_facet Auat Cheein, Fernando Alfredo
Scaglia, Gustavo Juan Eduardo
author_role author
author2 Scaglia, Gustavo Juan Eduardo
author2_role author
dc.subject.none.fl_str_mv Trajectory Control
Mobile Robots
Non-Holonomic Vehicles
Bicycle Type And Unicycle Type Mobile Robots
topic Trajectory Control
Mobile Robots
Non-Holonomic Vehicles
Bicycle Type And Unicycle Type Mobile Robots
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv A major issue in the automatic guidance of vehicles is the design of control laws dedicated to the specific mobile platform used. Thus, if the model associated with the mobile platform or its constraints change, a new control law must be designed. In this paper, the problem of designing trajectory tracking controllers for unmanned vehicles is addressed. The methodology proposed here is an algebraic approach for obtaining optimum and stable trajectory tracking controllers for nonholonomic vehicles. Such an algebraic formulation makes the proposal suitable for embedded applications. The stability and optimality of the proposed controllers design method is theoretically proven for both bicycle-type and unicycle-type mobile robots, although the methodology can be extended to other types of unmanned vehicles. Four tests were carried out in this work in order to show the advantages of the proposal: the step discontinuity test, the curvature test, the real world test, and navigation under disturbances in the control actions. The results obtained were compared with four trajectory tracking controllers previously published in the literature. Additionally, an agricultural application is included in order to show the performance of the proposed controller when applied to a service unit within an agricultural environment. Field experiments demonstrating the capabilities of our proposal are also reported and discussed.
Fil: Auat Cheein, Fernando Alfredo. Universidad Técnica Federico Santa María; Chile. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan; Argentina
description A major issue in the automatic guidance of vehicles is the design of control laws dedicated to the specific mobile platform used. Thus, if the model associated with the mobile platform or its constraints change, a new control law must be designed. In this paper, the problem of designing trajectory tracking controllers for unmanned vehicles is addressed. The methodology proposed here is an algebraic approach for obtaining optimum and stable trajectory tracking controllers for nonholonomic vehicles. Such an algebraic formulation makes the proposal suitable for embedded applications. The stability and optimality of the proposed controllers design method is theoretically proven for both bicycle-type and unicycle-type mobile robots, although the methodology can be extended to other types of unmanned vehicles. Four tests were carried out in this work in order to show the advantages of the proposal: the step discontinuity test, the curvature test, the real world test, and navigation under disturbances in the control actions. The results obtained were compared with four trajectory tracking controllers previously published in the literature. Additionally, an agricultural application is included in order to show the performance of the proposed controller when applied to a service unit within an agricultural environment. Field experiments demonstrating the capabilities of our proposal are also reported and discussed.
publishDate 2014
dc.date.none.fl_str_mv 2014-11
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/37207
Auat Cheein, Fernando Alfredo; Scaglia, Gustavo Juan Eduardo; Trajectory Tracking Controller Design for Unmanned Vehicles: A New Methodology; John Wiley & Sons Inc; Journal Of Field Robotics; 31; 6; 11-2014; 861-887
1556-4959
CONICET Digital
CONICET
url http://hdl.handle.net/11336/37207
identifier_str_mv Auat Cheein, Fernando Alfredo; Scaglia, Gustavo Juan Eduardo; Trajectory Tracking Controller Design for Unmanned Vehicles: A New Methodology; John Wiley & Sons Inc; Journal Of Field Robotics; 31; 6; 11-2014; 861-887
1556-4959
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1002/rob.21492
info:eu-repo/semantics/altIdentifier/url/http://onlinelibrary.wiley.com/doi/10.1002/rob.21492/abstract
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/vnd.rar
application/pdf
dc.publisher.none.fl_str_mv John Wiley & Sons Inc
publisher.none.fl_str_mv John Wiley & Sons Inc
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.070432

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