Title :
A backstepping non-linear controller for a mobile robot implemented in ROS
Author :
Barros, Taiser T. T. ; Fetter Lages, Walter
Author_Institution :
Carlos Tannhauser Prof. Educ. Sch., SENAI, Santa Cruz do Sul, Brazil
Abstract :
This work presents an implementation on the Robot Operating System (ROS) of a multi input, multi output (MIMO) non-linear controller for a mobile robot. Contrariwise to almost all available implementation of controllers in ROS, which implements a set of single input, single output (SISO) controllers using the proportional-integral-derivative (PID) control law, here a truly MIMO non-linear controller, based on feedback linearization, coordinate transforms and backstepping is considered.
Keywords :
MIMO systems; control engineering computing; feedback; mobile robots; nonlinear control systems; operating systems (computers); three-term control; transforms; MIMO; PID control law; ROS; SISO controller; backstepping nonlinear controller; coordinate transforms; feedback linearization; mobile robot; multiinput multioutput controller; proportional-integral-derivative; robot operating system; single input single output; Backstepping; Joints; Mathematical model; Mobile robots; Robot kinematics; Wheels;
Conference_Titel :
Industrial Informatics (INDIN), 2014 12th IEEE International Conference on
Conference_Location :
Porto Alegre
DOI :
10.1109/INDIN.2014.6945529
