Title :
Optimal feedback position control for an autonomous mobile robot
Author :
Tarín, C. ; Tibken, B. ; Brugger, H. ; Hofer, E.P.
Author_Institution :
Dept. of Meas. Control & Microtechnogy, Ulm Univ., Germany
Abstract :
Wheeled autonomous mobile robots underlie nonholonomic constraints and therefore they belong to a special class of nonholonomic systems. For this class of systems feedback stabilization plays a central role because they cannot be stabilized by continuously differentiable time invariant control laws. In this paper a time varying feedback control law that minimizes the input energy is designed for solving the optimal feedback control problem for high precision positioning
Keywords :
feedback; mobile robots; nonlinear systems; optimal control; position control; robot kinematics; stability; time-varying systems; autonomous mobile robot; feedback; kinematic model; nonholonomic systems; optimal control; position control; stabilization; time varying systems; Equations; Feedback control; Information processing; Mobile robots; Motion control; Optimal control; Performance analysis; Position control; Robot kinematics; Velocity control;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.879447
