DocumentCode
2378231
Title
Path following control law for an industrial mobile robot
Author
Tayebi, A. ; Rachid, A.
Author_Institution
Lab. des Syst. Autom., Picardie Univ., Jules Verne, France
fYear
1996
fDate
15-18 Sep 1996
Firstpage
703
Lastpage
707
Abstract
This paper presents a nonlinear control law based on partial state feedback linearization and Lyapunov method for the closed-loop path following problem of a nonholonomic mobile robot. The desired path is described by a reference mobile robot with the same kinematics constraints as the real robot. This method was successfully implemented on the autonomous mobile robot CHARLATTE in Automatic Systems Laboratory (LSA)
Keywords
Lyapunov methods; closed loop systems; linearisation techniques; mobile robots; nonlinear control systems; path planning; robot kinematics; state feedback; tracking; CHARLATTE; Lyapunov method; closed-loop systems; industrial mobile robot; kinematics constraints; linearization; nonholonomic mobile robot; nonlinear control; partial state feedback; path following control; Automatic control; Industrial control; Linear feedback control systems; Lyapunov method; Mobile robots; Robot kinematics; Robotics and automation; State feedback; Vehicles; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on
Conference_Location
Dearborn, MI
Print_ISBN
0-7803-2975-9
Type
conf
DOI
10.1109/CCA.1996.558950
Filename
558950
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