Article Information  
Nonholonomic Mobile Robot Trajectory Tracking using Hybrid Controller

Keywords: PID Controller, Fuzzy Logic, Kinematic Robot, Trajectory Tracking

Mehran University Research Journal of Engineering & Technology

Volume 35 ,  Issue 2


1. Chang, Y.C., and Chen, B.S., “Robust Tracking Designs for Both Holonomic and Nonholonomic Constrained Mechanical Systems: Adaptive Fuzzy Approach”, IEEE Transactions on Fuzzy Systems, Volume 8, No. 1, pp. 46-66, 2000
2. Webster, R.J., Kim, J.S., Cowan, N.J., Chirikjian, G.S., and Okamura, A.M., “The International Journal of Robotics Research, Volume 25, No. 5-6, pp. 509-525, 2006.
3. Antonelli, G., Chiaverini, S., and Fusco, G., “A FuzzyLogic-Based Approach for Mobile Robot Path Tracking”, IEEE Transactions on Fuzzy Systems, Volume 15, No. 2, pp. 211-221, 2007
4. Cao, Z., Zhao, Y., and Wu, Q., “Adaptive Trajectory Tracking Control for a Nonholonomic Mobile Robot”, Chinese Journal of Mechanical Engineering, Volume 24, No. 4, pp. 546, 2011.
5. Hou, Z.G., Zou, A.M., Cheng, L., and Tan, M., “Adaptive Control of an Electrically Driven Nonholonomic Mobile Robot via Backstepping and Fuzzy Approach”, IEEE Transactions on Control Systems Technology, Volume 17, No. 4, pp. 803-815, 2009.
6. Khooban, M.H., Design an Intelligent ProportionalDerivative (PD) Feedback Linearization Control for Nonholonomic-Wheeled Mobile Robot, Journal of Intelligent and Fuzzy Systems, Volume 26, No. 4, pp. 1833-1843, 2014samiuollah
7. Xuan, H., and Zeng, W., Design of Visual Feedback Tracking Algorithm for Nonholonomic Mobile Robots Based on Neural Network, 2013.
8. Wang, G., Wang, C., Song, X., and Du, Q., Trajectory Tracking of Nonholonomic Mobile Robots via DiscreteTime Sliding Mode Controller Based on Uncalibrated Visual Servoing, Computational Intelligence, Networked Systems and Their Applications, pp. 342-350: Springer, 2014.
9. Aguiar, A.P., Atassi, A.N., and Pascoal, A.M., Regulation of a Nonholonomic Dynamic Wheeled Mobile Robot with Parametric Modeling Uncertainty Using Lyapunov Functions, pp. 2995-3000
10. Burgard, W., Moors, M., Fox, D., Simmons, R., and Thrun, S., Collaborative Multi-Robot Exploration, pp. 476-481.
11. Yang, J.M., and Kim, J.H., Sliding Mode Control for Trajectory Tracking of Nonholonomic Wheeled Mobile Robots, IEEE Transactions on Robotics and Automation, Volume 15, No. 3, pp. 578-587, 1999.
12. Jiangdagger, Z.P., and Nijmeijer, H., Tracking Control of Mobile Robots: A Case Study in Backstepping, Automatica, Volume 33, No. 7, pp. 1393-1399, 1997
13. Klanear, G., and skrjanc, I., Tracking-Error ModelBased Predictive Control for Mobile Robots in Real Time, Robotics and Autonomous Systems, Volume 55, No. 6, pp. 460-469, 2007.
14. Fukao, T., Nakagawa, H., and Adachi, N., Adaptive Tracking Control of a Nonholonomic Mobile Robot, IEEE Transactions on Robotics and Automation, Volume 16, No. 5, pp. 609-615, 2000
15. Fierro, R., and Lewis, F.L., Control of a Nonholonomic Mobile Robot Using Neural Networks, IEEE Transactions on Neural Networks, Volume 9, No. 4, pp. 589-600, 1998
16. Fierro, R., and Lewis, F.L., Control of a Nonholonomic Mobile Robot: Backstepping Kinematics into Dynamics, pp. 3805-3810
17. Freund, E., and Mayr, R., Nonlinear Path Control in Automated Vehicle Guidance, IEEE Transactions on Robotics and Automation, Volume 13, No. 1, pp. 49-60, 1997.