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

fYear

2008

fDate

17-20 Dec. 2008

Firstpage

1224

Lastpage

1229

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICARCV.2008.4795696

Filename

4795696