A robust nonlinear optimal controller for autonomous mobile robots

Author

Nam, Jae Ho ; Baek, Seung Min ; Kuc, Tae-Yong

Author_Institution

Dept. of Electron. Eng., Sung Kyun Kwan Univ., Suwon, South Korea

Volume

2

fYear

1996

fDate

14-17 Oct 1996

Firstpage

1453

Abstract

In this paper, a robust nonlinear optimal control scheme is presented for precise trajectory tracking of nonholonomic mobile robots. In the controller, a set of desired trajectories is defined and used in constructing the control input which constitutes the main part of the proposed controller. The stable operating characteristics such as precise trajectory tracking, asymptotic convergence of optimal control input, disturbance suppression, etc., are shown through stability analysis as well as computer simulation

Keywords

mobile robots; nonlinear control systems; optimal control; position control; robust control; tracking; asymptotic convergence; autonomous mobile robots; disturbance suppression; nonholonomic mobile robots; precise trajectory tracking; robust nonlinear optimal controller; stability analysis; stable operating characteristics; Control systems; Linear feedback control systems; Mobile robots; Nonlinear control systems; Optimal control; Robot control; Robust control; Trajectory; Transmission line matrix methods; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1996., IEEE International Conference on

Conference_Location

Beijing

ISSN

1062-922X

Print_ISBN

0-7803-3280-6

Type

conf

DOI

10.1109/ICSMC.1996.571347

Filename

571347