Title :
Nonsingular geometric path following control of a wheeled mobile robot
Author :
Qi, Le ; Ma, Baoli ; Li, Wei
Author_Institution :
Foreign Training Dept., First Aeronaut. Eng. Inst. of Chinese Air Force, Xinyang, China
Abstract :
The geometric function of the target path was used to define the tracking error, converting the path following problem under study into a problem of output regulation. An exponential stable tracking control law was therefore derived adopting input-output linearization approach and back-stepping technique. Thanks to the exponentially decaying terms added to the desired geometric path, the singularity problem is avoided by adjusting relevant coefficients. Numerical simulation results show the effectiveness of the control scheme.
Keywords :
linearisation techniques; mobile robots; nonlinear dynamical systems; path planning; stability; backstepping technique; exponential stable tracking control law; exponentially decaying terms; geometric function; input output linearization approach; nonsingular geometric path following control; wheeled mobile robot; Aerospace engineering; Communication system control; Control systems; Equations; Mobile communication; Mobile robots; Numerical simulation; Robot kinematics; Target tracking; Wheels; Back-stepping; Geometric path following; Input-output linearization; Nonsingular; Wheeled mobile robot;
Conference_Titel :
Control and Decision Conference (CCDC), 2010 Chinese
Conference_Location :
Xuzhou
Print_ISBN :
978-1-4244-5181-4
Electronic_ISBN :
978-1-4244-5182-1
DOI :
10.1109/CCDC.2010.5498666
