Abstract
Safe trajectory tracking, which involves following the target trajectory while avoiding obstacles, is crucial for mobile robots. In this paper, we propose a robust safety trajectory tracking controller based on the input-to-state stable tracking control Lyapunov function (ISS-TCLF) and the input-to-state constrained safety control barrier function (ISCSf-CBF). This controller makes it possible to realize trajectory tracking and obstacle avoidance while satisfying state constraints in the presence of disturbances. The proposed controller is applied to a two-wheeled mobile robot and its effectiveness is confirmed by computer simulations.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
