Title :
Switched Feedback Tracking Control of a Nonholonomic Mobile Robot
Author :
Reyhanoglu, Mahmut ; Geluk, Theo
Author_Institution :
Dept. of Phys. Sci., Embry-Riddle Aeronaut. Univ., Daytona Beach, FL
Abstract :
This paper studies the tracking problem for a car-like nonholonomic mobile robot. A switched feedback control law is developed to achieve global tracking. The control law avoids singularities arising from coordinate transformations used to describe the robot kinematics in chained form. The paper provides a detailed derivation of the control law. Simulation examples are included to illustrate the effectiveness of the tracking controller
Keywords :
feedback; mobile robots; robot kinematics; car-like nonholonomic mobile robot; coordinate transformations; global tracking; robot kinematics; switched feedback tracking control; Equations; Feedback control; Mechanical engineering; Mobile robots; Orbital robotics; Robot control; Robot kinematics; Space technology; State feedback; Trajectory;
Conference_Titel :
IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on
Conference_Location :
Paris
Print_ISBN :
1-4244-0390-1
DOI :
10.1109/IECON.2006.347507
