Title :
Path following control law for an industrial mobile robot
Author :
Tayebi, A. ; Rachid, A.
Author_Institution :
Lab. des Syst. Autom., Picardie Univ., Jules Verne, France
Abstract :
This paper presents a nonlinear control law based on partial state feedback linearization and Lyapunov method for the closed-loop path following problem of a nonholonomic mobile robot. The desired path is described by a reference mobile robot with the same kinematics constraints as the real robot. This method was successfully implemented on the autonomous mobile robot CHARLATTE in Automatic Systems Laboratory (LSA)
Keywords :
Lyapunov methods; closed loop systems; linearisation techniques; mobile robots; nonlinear control systems; path planning; robot kinematics; state feedback; tracking; CHARLATTE; Lyapunov method; closed-loop systems; industrial mobile robot; kinematics constraints; linearization; nonholonomic mobile robot; nonlinear control; partial state feedback; path following control; Automatic control; Industrial control; Linear feedback control systems; Lyapunov method; Mobile robots; Robot kinematics; Robotics and automation; State feedback; Vehicles; Wheels;
Conference_Titel :
Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-2975-9
DOI :
10.1109/CCA.1996.558950
