Robust Arbitrary-Time Path-Tracking Control Using Reduced Order Kinematic Model for Unmanned Ground Vehicles
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Byeon, Kwankyun | - |
dc.contributor.author | You, Sesun | - |
dc.contributor.author | Lee, Youngwoo | - |
dc.contributor.author | Kim, Sungho | - |
dc.contributor.author | Kang, Donghyun | - |
dc.contributor.author | Choi, Jongwon | - |
dc.contributor.author | Kim, Wonhee | - |
dc.date.accessioned | 2024-05-29T01:30:36Z | - |
dc.date.available | 2024-05-29T01:30:36Z | - |
dc.date.issued | 2024-05 | - |
dc.identifier.issn | 1524-9050 | - |
dc.identifier.issn | 1558-0016 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/119111 | - |
dc.description.abstract | In this paper, we propose a robust arbitrary-Time path tracking control using reduced order kinematic model for the unmanned ground vehicle. The proposed method consists of the robust arbitrary-Time convergence control and fixed-Time super-Twisting observer for the kinematic model, and the fixed-Time super-Twisting controller of the dynamic model. To apply the robust arbitrary-Time convergence control to the unmanned ground vehicle, the reduced order kinematic model is developed to move the sensor location to the origin through coordinate transformation. The robust arbitrary-Time convergence control is designed to obtain the arbitrary-Time convergence and the robustness for the kinematic model. When the tracking errors exceed the predefined error boundary after the predefined arbitrary-Time, the tracking errors can converge to zero within predefined arbitrary-Time by the switching rule. The fixed-Time super-Twisting observer is designed to estimate the lumped disturbance for the kinematics model. The fixed-Time super-Twisting controller is developed for the dynamic model. © 2000-2011 IEEE. | - |
dc.format.extent | 13 | - |
dc.language | 영어 | - |
dc.language.iso | ENG | - |
dc.publisher | Institute of Electrical and Electronics Engineers | - |
dc.title | Robust Arbitrary-Time Path-Tracking Control Using Reduced Order Kinematic Model for Unmanned Ground Vehicles | - |
dc.type | Article | - |
dc.publisher.location | 미국 | - |
dc.identifier.doi | 10.1109/TITS.2023.3329997 | - |
dc.identifier.scopusid | 2-s2.0-85178037010 | - |
dc.identifier.wosid | 001122745600001 | - |
dc.identifier.bibliographicCitation | IEEE Transactions on Intelligent Transportation Systems, v.25, no.5, pp 4089 - 4101 | - |
dc.citation.title | IEEE Transactions on Intelligent Transportation Systems | - |
dc.citation.volume | 25 | - |
dc.citation.number | 5 | - |
dc.citation.startPage | 4089 | - |
dc.citation.endPage | 4101 | - |
dc.type.docType | 정기학술지(Article(Perspective Article포함)) | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Transportation | - |
dc.relation.journalWebOfScienceCategory | Engineering, Civil | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Transportation Science & Technology | - |
dc.subject.keywordPlus | WHEELED MOBILE ROBOTS | - |
dc.subject.keywordPlus | TRAJECTORY-TRACKING | - |
dc.subject.keywordPlus | PREDICTIVE CONTROL | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordPlus | OBSERVER | - |
dc.subject.keywordPlus | SYSTEMS | - |
dc.subject.keywordAuthor | path-Tracking control | - |
dc.subject.keywordAuthor | robust arbitrary-Time convergence control | - |
dc.subject.keywordAuthor | Unmanned ground vehicle | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/10324388?arnumber=10324388&SID=EBSCO:edseee | - |
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