Trajectory tracking control for wheeled mobile robots based on nonlinear disturbance observer with extended Kalman filter

DOI10.1016/j.jfranklin.2020.04.043zbMath1448.93227OpenAlexW3039277762MaRDI QIDQ2005288

Li Li, Yuanqing Xia, Tianqi Wang, Ning Zhou

Publication date: 7 October 2020

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2020.04.043

zbMATH Keywords

extended Kalman filtertrajectory trackingnonlinear disturbance observernon-holonomic wheeled mobile robot

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Automated systems (robots, etc.) in control theory (93C85) Stochastic stability in control theory (93E15) Observers (93B53)

Related Items (5)

Model predictive tracking control with disturbance compensation for wheeled mobile robots in an environment with obstacles ⋮ Approximate solution of small-time control synthesis problem based on linearization ⋮ Distributed set-membership estimation for state-saturated systems with mixed time-delays via a dynamic event-triggered scheme ⋮ Disturbance observer-based sliding mode control for consensus tracking of chaotic nonlinear multi-agent systems ⋮ Adaptive resilient containment control for nonlower triangular multiagent systems with time-varying delay and sensor faults

Cites Work

• Unnamed Item
• Disturbance estimator as a state observer with extended Kalman filter for robotic manipulator
• Speed and rotor flux estimation of induction machines using a two-stage extended Kalman filter
• An obstacle avoidance model predictive control scheme for mobile robots subject to nonholonomic constraints: a sum-of-squares approach
• A new on-line observer-based controller for leader-follower formation of multiple nonholonomic mobile robots
• A novel adaptive robust control approach for underactuated mobile robot
• Extended Kalman filtering with stochastic nonlinearities and multiple missing measurements
• Active disturbance rejection control for a pneumatic motion platform subject to actuator saturation: an extended state observer approach
• Finite time position and heading tracking control of coaxial octorotor based on extended inverse multi-quadratic radial basis function network and external disturbance observer
• Reduced order disturbance observer for discrete-time linear systems

This page was built for publication: Trajectory tracking control for wheeled mobile robots based on nonlinear disturbance observer with extended Kalman filter