DocumentCode
381043
Title
An affine nonlinear control approach to mobile robot with nonholonomic orthogonal-wheels
Author
Liu, Kaizhou ; Zhao, Ping ; Sun, Maoxiang ; Dong, Zaili
Author_Institution
Sch. of Inf. Sci. & Eng., Shenyang Univ. of Technol., China
Volume
2
fYear
2002
fDate
2002
Firstpage
1457
Abstract
In this paper, we present an affine nonlinear control approach based on the differential geometric point of view, according to the tracking problem of the mobile robot with nonholonomic orthogonal-wheels. This approach can not only be applied to nonlinear control system, but also to a nonlinear control system with strong coupling. The simulation results show that the approach has a very effective result on the tracking problem of the mobile robot.
Keywords
differential geometry; mobile robots; nonlinear control systems; robot dynamics; tracking; affine nonlinear control; differential geometry; mobile robot; nonholonomic orthogonal-wheels; nonlinear control system; nonlinear geometry theory; tracking; Control systems; Couplings; Intelligent robots; Laboratories; Linear systems; Mobile robots; Nonlinear control systems; Nonlinear systems; Robot kinematics; Sun;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN
0-7803-7268-9
Type
conf
DOI
10.1109/WCICA.2002.1020825
Filename
1020825
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