DocumentCode
2363815
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
fYear
2006
fDate
6-10 Nov. 2006
Firstpage
3810
Lastpage
3814
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;
fLanguage
English
Publisher
ieee
Conference_Titel
IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on
Conference_Location
Paris
ISSN
1553-572X
Print_ISBN
1-4244-0390-1
Type
conf
DOI
10.1109/IECON.2006.347507
Filename
4152997
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