DocumentCode
2166492
Title
Lyapunov-based environmental boundary tracking control of mobile robots
Author
Sun, Tairen ; Zhang, Caihong ; Pei, Hailong
fYear
2012
fDate
11-14 April 2012
Firstpage
340
Lastpage
345
Abstract
This paper considers the environmental boundary tracking problem where the objective is to steer a mobile robot to track the desired environmental boundary. Based on the kinematic model of the mobile robot, we design a kinematic control law for the robot to track the desired boundary. Kinematic control law needs perfect velocity tracking, which doesn´t always hold for a mobile robot. So, dynamic control law is designed for the nonholonomic mobile robot to track a designated reference velocity, so as to track the desired environmental boundary. The stability of the designed control laws is verified by Lyapunov theory and Barbalat´s Lemma and illustrated by simulation results.
Keywords
Lyapunov methods; mobile robots; robot dynamics; robot kinematics; Barbalat lemma; Lyapunov-based environmental boundary tracking control; dynamic control law design; kinematic control law design; mobile robot kinematic model; nonholonomic mobile robot steering; reference velocity tracking; Kinematics; Mobile robots; Robot kinematics; Robot sensing systems; Symmetric matrices; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Networking, Sensing and Control (ICNSC), 2012 9th IEEE International Conference on
Conference_Location
Beijing
Print_ISBN
978-1-4673-0388-0
Type
conf
DOI
10.1109/ICNSC.2012.6204941
Filename
6204941
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