Title :
Analysis on nonlinear feedback controls for differential mobile robots and its application to multi-robot formation control - part one
Author :
Wan, Jie ; Chen, Peter
Author_Institution :
Dept. of Mech. Eng., Nat. Univ. of Singapore, Singapore
Abstract :
This is the first part of the whole paper and in this part, characteristics of two similar nonlinear feedback control laws of differential mobile robots were investigated in a comparative framework. First evolutions of robot´s heading under those two controls are studied. Then uniqueness of robot´s trajectory with respect to gain ratio and characteristics of trajectory curvature are revealed. For the first time, the concept of ldquocritical gain ratiordquo is proposed. Simulation results are also presented.
Keywords :
feedback; mobile robots; multi-robot systems; nonlinear control systems; position control; critical gain ratio; differential mobile robots; multirobot formation control; nonlinear feedback controls; trajectory curvature; Automatic control; Books; Control systems; Feedback control; Mechanical engineering; Mobile robots; Open loop systems; Robot control; Robot kinematics; Robotics and automation; nonholonomic mobile robot; nonlinear feedback control; trajectory;
Conference_Titel :
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location :
Hanoi
Print_ISBN :
978-1-4244-2286-9
Electronic_ISBN :
978-1-4244-2287-6
DOI :
10.1109/ICARCV.2008.4795696
