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Erschienen in:
2009 | OriginalPaper | Buchkapitel
On-Line Trajectory Time-Scaling to Reduce Tracking Error
verfasst von : Emese Szádeczky-Kardoss, Bálint Kiss
Erschienen in: Intelligent Engineering Systems and Computational Cybernetics
Verlag: Springer Netherlands
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The paper describes an on-line trajectory time-scaling control algorithm for wheeled mobile robots. To reduce tracking errors the controller modifies the velocity profile of the reference trajectory according to the closed loop behavior of the robot. The geometry of the reference trajectory is unchanged, only the time distribution varies during the motion. We give a control algorithm which uses time-scaled reference and a feedback calculated from the linearized error dynamics. The closed loop behavior is also studied together with the controllability of the linearized error dynamics.