Title :
Study on motion control of mobile robot based on lyapunov direct method
Author :
Wang Jian-feng ; Han Liang
Author_Institution :
Dept. of Electr. Eng., Xi Jing Univ., Xi´an, China
Abstract :
The researches on mobile robot involve many directions, the basis of which is the motion control. By analyzing the kinematics simulation of mobile robot, this paper demonstrates the feasibility of lyapunov direct method techniques using in mobile robot motion control with the experimental subject of pionieer3DX wheeled mobile robot. And this experiment proves that this method not only can increase the adjustment ability of controller, but also can simplify the design of controller to some extent.
Keywords :
Lyapunov methods; mobile robots; motion control; robot kinematics; wheels; Lyapunov direct method; Lyapunov direct method techniques; controller design; kinematic simulation analysis; motion control; pionieer3DX wheeled mobile robot; Navigation; Robots; Lyapunov controller; mobile robots; motion control;
Conference_Titel :
Electronics, Computer and Applications, 2014 IEEE Workshop on
Conference_Location :
Ottawa, ON
DOI :
10.1109/IWECA.2014.6845592
