NDLI: Parallel parking of a car-like mobile robot based on the P-domain path tracking controllers

Content Provider	IET Digital Library
Author	Samani, Nasrin Naderi Danesh, Mohammad Ghaisari, Jafar
Abstract	This study presents high-precision path tracking controllers to follow a parking path in which change in the movement direction is required along it. Compared with other existing path tracking controllers, the automatic control of the movement direction and the necessity of zero velocity at the switching and end points of the parking manoeuvre are considered in the controller design. To this aim, two time-domain functions are proposed depending on the movement direction. Then, two function-domain tracking controllers based on feedback linearisation control and sliding mode control (SMC) structures are designed. The stability of the tracking controllers is analysed and guaranteed. Unlike the conventional SMC, the control signals of the function-domain SMC are very smooth. Moreover, designing the tracking controller in the function-domain can be a solution to modify the tracking controllers that have problem in the control law for the steering angle at zero speed. In the proposed controllers, the steering angle and the driving velocity are fully controlled by the controllers, and the robot automatically stops at the critical points independent of the position estimation and velocity tracking errors. Simulation results demonstrate the effectiveness of the proposed controllers to steer the robot along the reference path.
Starting Page	564
Ending Page	572
Page Count	9
ISSN	17518644
Volume Number	10
e-ISSN	17518652
Issue Number	Issue 5, Mar (2016)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/10/5
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2015.1064
Journal	IET Control Theory & Applications
Publisher Date	2016-03-21
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Automatic Movement Direction Control Car-like Mobile Robot Control System Analysis Control System Synthesis Feedback Feedback Linearisation Control Function-domain SMC Structure Function-domain Tracking Controller High-precision Path Tracking Controller Linearisation Technique Mobile Robots Motion Control Movement Direction Multivariable Control System P-domain Path Tracking Controller Parallel Parking Path Parking Manoeuvre Position Control Position Estimation Reference Path Sliding Mode Control Structure Spatial Variables Control Stability Stability in Control Theory Steering Angle Steering System Switching Point Synthesis Method Variable Structure System Velocity Tracking Error Zero Velocity
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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