Trajectory controller design of mobile robot based on back-stepping procedure

Author

Jaewon, K. ; Kicheol, L. ; Mignon, P.

Author_Institution

Dept. of Control & Instrum., Yuhan Coll., South Korea

fYear

2002

fDate

11-13 Feb. 2002

Firstpage

353

Lastpage

358

Abstract

The constructive modeling procedure of a nonholonomic mobile robot system is carried out with the help of controllability Lie algebra used in the differential geometry field, and their geometrical properties are also analyzed. A new trajectory controller is suggested to guarantee its convergence to a reference trajectory. The design procedure of the suggested trajectory controller is the back-stepping scheme. The performance of the proposed trajectory controller is verified via computer simulation. In the simulation the trajectory controller is applied to a differentially driven mobile robot system on the assumption that the trajectory planner is given.

Keywords

Lie algebras; asymptotic stability; control system synthesis; differential geometry; digital simulation; feedback; mobile robots; nonlinear control systems; position control; back-stepping procedure; computer simulation; controllability Lie algebra; convergence; differential geometry; geometrical properties; nonholonomic mobile robot system; trajectory controller design; Algebra; Computational geometry; Control theory; Controllability; Convergence; Educational institutions; Mobile robots; Nonlinear control systems; Nonlinear dynamical systems; Solid modeling;

fLanguage

English

Publisher

ieee

Conference_Titel

Information, Decision and Control, 2002. Final Program and Abstracts

Conference_Location

Adelaide, SA, Australia

Print_ISBN

0-7803-7270-0

Type

conf

DOI

10.1109/IDC.2002.995431

Filename

995431