Title :
Trajectory tracking of steering system mobile robot
Author :
Sanhoury, Ibrahim M H ; Amin, Shamsudin H M ; Husain, Abdul Rashid
Author_Institution :
Centre for Artificial Intell. & Robot., Univ. Teknol. Malaysia, Skudai, Malaysia
Abstract :
In this paper, the kinematic model of nonholonomic differential wheeled mobile robot steering system is established. Based on the model, a nonlinear feedback path tracking controller is proposed, which causes the closed loop system state equation for the robot to have equilibrium condition at the origin. Lyapunov candidate function is used to prove that the closed loop system is asymptotically stable at origin. Simulation results verify the usefulness of the tracking control approach.
Keywords :
Lyapunov methods; asymptotic stability; closed loop systems; feedback; mobile robots; nonlinear control systems; position control; robot kinematics; steering systems; Lyapunov candidate function; asymptotic stability; closed loop system; closed loop system state equation; equilibrium condition; kinematic model; nonholonomic differential wheeled mobile robot steering system; nonlinear feedback path tracking controller; trajectory tracking; Automation; Mobile robots; Robot kinematics; Steering systems; Tracking; Trajectory; feedback linearization; nonholonomic; steering system; trajectry tracking; wheeled mobile robot;
Conference_Titel :
Mechatronics (ICOM), 2011 4th International Conference On
Conference_Location :
Kuala Lumpur
Print_ISBN :
978-1-61284-435-0
DOI :
10.1109/ICOM.2011.5937124
