Nonlinear boundary tracking control for mobile robot

Author

Sun, Tairen ; Li, Liangliang ; He, Yuebang

Author_Institution

Sch. of Electr. & Inf. Eng., Jiangsu Univ., Zhenjiang, China

fYear

2012

fDate

25-27 July 2012

Firstpage

4792

Lastpage

4797

Abstract

In this paper, we consider the environmental boundary tracking problem where the objective is to steering a nonholo-nomic mobile robot to track the desired environmental boundary. Based on 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 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; nonlinear control systems; robot dynamics; robot kinematics; Barbalat Lemma; Lyapunov theory; environmental boundary tracking problem; kinematic control law design; nonholonomic mobile robot dynamic control law; nonholonomic mobile robot kinematic model; nonlinear boundary tracking control; velocity tracking; Kinematics; Mobile robots; Pollution measurement; Robot kinematics; Robot sensing systems; Vectors; mobile robot; nonlinear control; tracking control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2012 31st Chinese

Conference_Location

Hefei

ISSN

1934-1768

Print_ISBN

978-1-4673-2581-3

Type

conf

Filename

6390770