کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

صفحه اصلی / نهمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

Control of Mobile Robots Using CLF-CBF-QP in Presence of LOE Fault

نویسندگان :

َAli Alavi Nasab¹ Mohammad Hassan Asemani²

1- Shiraz University Shiraz, Iran 2- Shiraz University Shiraz, Iran

کلمات کلیدی :

Control barrier function،Control Lyapunov function،Extended Kalman filter،Nonholonomic mobile robot،Safety

چکیده :

This research proposes a multifaceted approach to mobile robot control and navigation. Firstly, a control Lyapunov function and control barrier function-based quadratic programing (CLF-CBF-QP) is introduced for nonholonomic mobile robots (NMR) to safely navigate around moving obstacles, addressing steering angle limitations and optimizing decay rates in real-time. In our study, we address the presence of actuator faults causing a loss of effectiveness in the nonholonomic mobile robot under consideration. Then, we develop a CLF-CBF-QP controller for mobile robots, using an extended Kalman filter (EKF) to estimate actuator loss of effectiveness gains and integrating them into the control system to mitigate actuator faults. Furthermore, simulations validate the method's effectiveness in overtaking and head-on collision avoidance with moving obstacles.

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