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A Path Tracking Strategy for Car Like Robots with Sensor Unpredictability and Measurement Errors.

Madan Mohan Rayguru¹, Mohan Rajesh Elara¹, Ramalingam Balakrishnan¹

¹ROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore.

Sensors (Basel, Switzerland)

|June 4, 2020

Summary

This summary is machine-generated.

This study introduces a robust observer-based sliding mode controller for cleaning robots, enhancing motion control accuracy despite sensor errors. The new method ensures robots precisely follow paths, even with noisy data.

Keywords:

measurement error path tracking robust estimation

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Area of Science:

Robotics
Control Systems Engineering
Artificial Intelligence

Background:

Cleaning robots require precise motion control for tasks like sanitization and door cleaning.
Traditional motion controllers struggle with sensor noise and calibration errors, impacting path-following accuracy.
Accurate path planning and execution are critical for autonomous robotic operations.

Purpose of the Study:

To develop a robust motion control system for cleaning robots.
To address challenges posed by sensor inaccuracies and incomplete state measurements.
To ensure reliable trajectory tracking in uncertain environments.

Main Methods:

A robust intrinsic observer was designed to estimate the input matrix for dynamic feedback linearization.
A sliding mode controller was implemented to stabilize uncertain dynamics.
Lyapunov-based stability analysis was used to guarantee system convergence.

Main Results:

The proposed robust-observer based sliding mode controller achieves asymptotic trajectory tracking.
The controller effectively handles measurement uncertainties and sensor inaccuracies.
Numerical simulations validated the strategy's successful performance.

Conclusions:

The developed controller offers a robust solution for cleaning robot motion control.
The approach enhances reliability in real-world applications with noisy sensor data.
This method ensures precise path following for autonomous robotic systems.