4.6 Article

Optimal Trajectory Planning Method for the Navigation of WIP Vehicles in Unknown Environments: Theory and Experiment

相关参考文献

注意:仅列出部分参考文献,下载原文获取全部文献信息。
Article Automation & Control Systems

Gain-adapting coupling control for a class of underactuated mechanical systems

Biao Lu et al.

Summary: The loss of actuators poses challenges to the control of underactuated systems, as unactuated degrees of freedom must be indirectly stabilized through appropriate regulation of actuated ones. A nonlinear gain-adapting controller is proposed to enhance state couplings and improve system performance and robustness in the face of disturbances. The proposed method imposes few requirements on system configuration, making it more convenient for practical application.

AUTOMATICA (2021)

Article Automation & Control Systems

Fuzzy Observer Constraint Based on Adaptive Control for Uncertain Nonlinear MIMO Systems With Time-Varying State Constraints

Yan-Jun Liu et al.

Summary: This article presents an adaptive output feedback approach for dealing with nonlinear multi-input-multi-output systems with time-varying state constraints and unmeasured states. A state observer with time-varying barrier Lyapunov functions is introduced in the controller design to handle the tracking problem of such systems, ensuring that all system states remain within the time-varying-constrained interval. The proposed control approach guarantees bounded signals in the closed-loop systems, convergence of tracking errors to a bounded compact set, and non-violation of time-varying full-state constraints.

IEEE TRANSACTIONS ON CYBERNETICS (2021)

Article Automation & Control Systems

Time-Optimal Point Stabilization Control for WIP Vehicles Using Quasi-Convex Optimization and B-Spline Adaptive Interpolation Techniques

Yigao Ning et al.

Summary: This paper presents a time-optimal point stabilization control method for inherently unstable wheeled inverted pendulum (WIP) vehicles using quasi-convex optimization and B-spline adaptive interpolation techniques. The method involves state feedback control, system discretization, and B-spline interpolation to achieve optimal trajectories for the WIP vehicle. Simulation results validate the feasibility and effectiveness of the proposed method.

IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS (2021)

Article Automation & Control Systems

Neurodynamics-Based Model Predictive Control of Continuous-Time Under-Actuated Mechatronic Systems

Jiasen Wang et al.

Summary: This article discusses neurodynamics-based model predictive control of continuous-time under-actuated mechatronic systems, formulated as a global optimization problem and solved using a collaborative neurodynamic approach. The closed-loop system is proven to be asymptotically stable, with specific applications on control of autonomous surface vehicles and unmanned wheeled vehicles elaborated to demonstrate the efficacy of the approach.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2021)

Article Automation & Control Systems

A trajectory planning and tracking control approach for obstacle avoidance of wheeled inverted pendulum vehicles

Yigao Ning et al.

INTERNATIONAL JOURNAL OF CONTROL (2020)

Article Automation & Control Systems

High-Order Disturbance-Observer-Based Sliding Mode Control for Mobile Wheeled Inverted Pendulum Systems

Jian Huang et al.

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2020)

Article Automation & Control Systems

Adaptive Tracking Control of Wheeled Inverted Pendulums With Periodic Disturbances

Wei Sun et al.

IEEE TRANSACTIONS ON CYBERNETICS (2020)

Article Robotics

Structure-Preserving Constrained Optimal Trajectory Planning of a Wheeled Inverted Pendulum

Klaus Albert et al.

IEEE TRANSACTIONS ON ROBOTICS (2020)

Article Automation & Control Systems

Collision-Free Path Planning and Delivery Sequence Optimization in Noncoplanar Radiation Therapy

Beifa Ye et al.

IEEE TRANSACTIONS ON CYBERNETICS (2019)

Article Computer Science, Information Systems

Image encryption based on the combination of roulette wheel selection with linear congruence pixel transformation

Guanghui Cao et al.

MULTIMEDIA TOOLS AND APPLICATIONS (2019)

Letter Computer Science, Information Systems

Trajectory planning-based control of underactuated wheeled inverted pendulum robots

Dingkun Liang et al.

SCIENCE CHINA-INFORMATION SCIENCES (2019)

Article Automation & Control Systems

Point Stabilization Control Method for WIP Vehicles Based on Motion Planning

Ming Yue et al.

IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS (2019)

Article Automation & Control Systems

Complete and Time-Optimal Path-Constrained Trajectory Planning With Torque and Velocity Constraints: Theory and Applications

Peiyao Shen et al.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2018)

Article Computer Science, Information Systems

Efficiently solving the Traveling Thief Problem using hill climbing and simulated annealing

Mohamed El Yafrani et al.

INFORMATION SCIENCES (2018)

Article Multidisciplinary Sciences

Path Planning for the Mobile Robot: A Review

Han-ye Zhang et al.

SYMMETRY-BASEL (2018)

Article Automation & Control Systems

Kinematic Bilateral Teledriving of Wheeled Mobile Robots Coupled With Slippage

Weihua Li et al.

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2017)

Article Automation & Control Systems

Nonlinear Optimal Control Design for Underactuated Two-Wheeled Inverted Pendulum Mobile Platform

Sangtae Kim et al.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2017)

Article Engineering, Civil

Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method

Weihao Li et al.

JOURNAL OF ADVANCED TRANSPORTATION (2017)

Article Computer Science, Artificial Intelligence

A hierarchical global path planning approach for mobile robots based on multi-objective particle swarm optimization

Thi Thoa Mac et al.

APPLIED SOFT COMPUTING (2017)

Article Robotics

Essential Properties of Numerical Integration for Time-Optimal Path-Constrained Trajectory Planning

Peiyao Shen et al.

IEEE ROBOTICS AND AUTOMATION LETTERS (2017)

Article Automation & Control Systems

Vision-Based Human Tracking Control of a Wheeled Inverted Pendulum Robot

Weiquan Ye et al.

IEEE TRANSACTIONS ON CYBERNETICS (2016)

Article Automation & Control Systems

Nonlinear Disturbance Observer-Based Dynamic Surface Control of Mobile Wheeled Inverted Pendulum

Jian Huang et al.

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY (2015)

Article Engineering, Mechanical

Adaptive backstepping control of wheeled inverted pendulums models

Rongxin Cui et al.

NONLINEAR DYNAMICS (2015)

Article Computer Science, Artificial Intelligence

Adaptive Fuzzy Control via Observer Design for Uncertain Nonlinear Systems With Unmodeled Dynamics

Yan-Jun Liu et al.

IEEE TRANSACTIONS ON FUZZY SYSTEMS (2013)

Article Automation & Control Systems

Trajectory Planning and Optimized Adaptive Control for a Class of Wheeled Inverted Pendulum Vehicle Models

Chenguang Yang et al.

IEEE TRANSACTIONS ON CYBERNETICS (2013)

Article Automation & Control Systems

Neural-Adaptive Output Feedback Control of a Class of Transportation Vehicles Based on Wheeled Inverted Pendulum Models

Zhijun Li et al.

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY (2012)

Article Robotics

Improved techniques for grid mapping with Rao-Blackwellized particle filters

Giorgio Grisetti et al.

IEEE TRANSACTIONS ON ROBOTICS (2007)