Abstract:
Path following, one of the motion control problems of mobile robots is a problem not adequately studied. In this paper, a new framework to solve path following is establi...Show MoreMetadata
Abstract:
Path following, one of the motion control problems of mobile robots is a problem not adequately studied. In this paper, a new framework to solve path following is established. Firstly, path following is given a new formulation, considering geometry constraints of planar curves. Secondly, the notion of virtual vehicle is applied, making exact linearization realizable. A control law with simple form is deduced, which is proved to be applicable by simulation results.
Published in: 2006 Chinese Control Conference
Date of Conference: 07-11 August 2006
Date Added to IEEE Xplore: 15 January 2007
ISBN Information:
ISSN Information:
References is not available for this document.
Contents Select All
1.
T.-C. Lee et al., "Tacking Control of Unicycle-Modeled Mobile Robots Using a Saturation Feedback Controller", IEEE Trans. On Control Systems Technology, vol. 9, no. 2, pp. 305-318, March 2001.
2.
C. Samson, "Control of Chained Systems Application to Path Following and Time-Varying Point-Stabilization of Mobile Robots", IEEE Trans. On Automatic Control, vol. 40, no. 1, pp. 64-77, January 1995.
3.
E. Egerstedt, X. Hu and A. Stotsky, "Control of Mobile Platform Using a Virtual Vehicle Approach", IEEE Trans. On Automatic Control, vol. 46, no. 11, pp. 1777-1782, November 2001.
4.
G. Oriolo, A.D. Luca and M. Vendittelli, "WMR Control Via Dynamic Feedback Linearization: Design Implementation and Experimental Validation", IEEE Trans. On Control Systems Technology, vol. 10, no. 6, pp. 835-852, November 2002.
5.
R.W. Brockett, "Asymptotic stability and feedback stabilization" in in Differential geometric control theory, Boston:Birkhauser, pp. 181-191, 1983.
6.
C. Samon, "Velocity and torque feedback control of a nonholonomic cart", in Proc. Int. Workshop in Adaptive and Nonlinear Control, 1990.
