dc.contributor.author | Li, Yuqian | |
dc.contributor.author | Nielsen, Christopher | |
dc.date.accessioned | 2021-09-23 19:21:37 (GMT) | |
dc.date.available | 2021-09-23 19:21:37 (GMT) | |
dc.date.issued | 2016-05-23 | |
dc.identifier.uri | https://doi.org/10.1109/TCST.2016.2562578 | |
dc.identifier.uri | http://hdl.handle.net/10012/17505 | |
dc.description | Li, Y., & Nielsen, C. (2017). Synchronized Closed Path Following for a Differential Drive and Manipulator Robot. IEEE Transactions on Control Systems Technology, 25(2), 704–711. https://doi.org/10.1109/TCST.2016.2562578 | en |
dc.description.abstract | We locally solve a synchronized path-following problem for a heterogeneous multiagent system consisting of a differential drive robot and a serial manipulator. Each is assigned a simple, regular, and closed curve in its output space. The outputs of the systems must approach and traverse their assigned curves while synchronizing their motions along the paths. We use the notion of path-following outputs to facilitate a solution and present a novel synchronization controller and a novel singularity avoidance controller. The controllers are all given in closed form making their implementation straightforward. A numerical simulation is presented, which includes modeling uncertainty to demonstrate the utility of this approach. | en |
dc.description.sponsorship | Partially supported by the Natural Sciences and Engineering Research
Council of Canada (NSERC) | en |
dc.language.iso | en | en |
dc.publisher | IEEE | en |
dc.relation.ispartofseries | IEEE Transactions on Control Systems Technology; | |
dc.subject | Feedback linearization | en |
dc.subject | nonlinear control | en |
dc.subject | path following | en |
dc.subject | robotics | en |
dc.subject | synchronization | en |
dc.title | Synchronized closed path following for a differential drive and manipulator robot | en |
dc.type | Article | en |
dcterms.bibliographicCitation | Li, Y., & Nielsen, C. (2017). Synchronized Closed Path Following for a Differential Drive and Manipulator Robot. IEEE Transactions on Control Systems Technology, 25(2), 704–711. https://doi.org/10.1109/TCST.2016.2562578 | en |
uws.contributor.affiliation1 | Faculty of Engineering | en |
uws.contributor.affiliation2 | Electrical and Computer Engineering | en |
uws.typeOfResource | Text | en |
uws.peerReviewStatus | Reviewed | en |
uws.scholarLevel | Faculty | en |