Title :
Cascaded feedback linearization tracking control of nonholonomic mobile robot
Author :
Liu Zilong ; Jiang Chenfei ; Liu Jie ; Wang Yagang
Author_Institution :
Sch. of Opt.-Electr. & Comput. Eng., Univ. of Shanghai for Sci. & Technol., Shanghai, China
Abstract :
In this paper, we propose cascaded approach on the basis of DC motor-driven three-wheeled mobile robot, which means to drive its kinematics model with robot body as driven motor load and output velocity of DC motor as input. In the kinematics model, the error between actual output and reference path is calculated and feedback to the driven motor controller so as to design cascaded feedback linearization tracking scheme. The proof and simulation results based on Lyapunov stability show the effectiveness of the method.
Keywords :
DC motors; Lyapunov methods; cascade control; control system synthesis; feedback; linearisation techniques; mobile robots; robot kinematics; stability; trajectory control; DC motor output velocity; DC motor-driven three-wheeled mobile robot; Lyapunov stability; cascaded approach; cascaded feedback linearization tracking control; cascaded feedback linearization tracking design; nonholonomic mobile robot; robot body; robot kinematics model; DC motors; Educational institutions; Electronic mail; Kinematics; Mobile robots; Radio frequency; Zirconium; Cascaded System; Feedback Linearization; Mobile Robot; Trajectory Tracking;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
