A stable tracking control method for a non-holonomic mobile robot

Author

Kanayama, Yutaka ; Kimura, Yoshihiko ; Miyazaki, Fumio ; Noguchi, Tetsuo

Author_Institution

Dept. of Comput. Sci., Naval Postgraduate Sch., Monterey, CA, USA

fYear

1991

fDate

3-5 Nov 1991

Firstpage

1236

Abstract

Proposes a stable control rule to find a reasonable target linear and rotational velocities (ν, ω)^t. The stability of the rule is proved through the use of a Lyapunov function. The rule contains three parameters, K_x, K_y and K_θ. Although any set of positive parameters makes the system stable, a condition on the parameters for the system being critically damped for a small disturbance is obtained through linearizing the system´s differential equation. This method was successfully implemented on the autonomous mobile robot Yamabico-11. Experimental results obtained turn out to be close to the results with the velocity/acceleration limiter

Keywords

Lyapunov methods; differential equations; mobile robots; position control; stability; velocity control; Lyapunov function; Yamabico-11; autonomous mobile robot; differential equation; nonholonomic mobile robots; position control; stability; tracking control; velocity control; Computer science; Control systems; Differential equations; Error correction; Mobile robots; Robot kinematics; Stability; Target tracking; Vehicles; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on

Conference_Location

Osaka

Print_ISBN

0-7803-0067-X

Type

conf

DOI

10.1109/IROS.1991.174669

Filename

174669