Title :
Globally asymptotically stable tracking control of mobile robots
Author :
Kim, Doh-Hyun ; Oh, Jun-Ho
Author_Institution :
Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Taejeon, South Korea
Abstract :
We discuss the design of globally asymptotically stable tracking control law for mobile robot with nonholonomic velocity constraints. The stability of the controller is derived by the Lyapunov direct method. We analyze the system responses according to the variation of control parameters in line tracking problem. It is showed that the output responses represent non-oscillatory property in line tracking. Both the two-wheeled mobile robot and car-like mobile robot are selected as examples, and the simulation results are presented to show the effectiveness of our method
Keywords :
Lyapunov methods; asymptotic stability; mobile robots; nonlinear control systems; robot kinematics; tracking; Lyapunov direct method; asymptotic stability; kinematics; mobile robots; nonholonomic velocity constraints; nonlinear control; stability; tracking control; Angular velocity; Asymptotic stability; Control systems; Equations; Error correction; Mechanical engineering; Mobile robots; Robot control; Velocity control; Wheels;
Conference_Titel :
Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on
Conference_Location :
Trieste
Print_ISBN :
0-7803-4104-X
DOI :
10.1109/CCA.1998.721670
