Synchronized closed-path following for a mobile robot and an Euler-Lagrange system

synchonization;path following;mobile robot;Eluer-Lagrange system;Electrical and Computer Engineering

Li, Yuqian

University of Waterloo

关键词: synchonization;    path following;    mobile robot;    Eluer-Lagrange system;    Electrical and Computer Engineering;   

Others  :  https://uwspace.uwaterloo.ca/bitstream/10012/7887/1/Li_Yuqian.pdf

瑞士|英语

来源: UWSPACE Waterloo Institutional Repository

【 摘 要 】

We propose and solve a synchronized path following problem for a differential driverobot modeled as a dynamic unicycle and an Euler-Lagrange system. Each system is assigneda simple closed curve in its output space. The outputs of systems must approach andtraverse their assigned curves while synchronizing their motions along the paths. The synchronizationproblems we study in this thesis include velocity synchronization and positionsynchronization. Velocity synchronization aims to force the velocities of the systems be equalon the desired paths. Position synchronization entails enforcing a positional constraintbetween the systems modeled as a constraint function on the paths. After characterizingfeasible positional constraints, a finite-time stabilizing control law is used to enforce theposition constraint.