Dynamic feedback linearization of nonholonomic wheeled mobile robots

Author

d´Andrea-Novel, Brigitte ; Bastin, G. ; Campion, G.

Author_Institution

Centre Autom. et Syst., Ecole des Mines de Paris, Fontainebleau, France

fYear

1992

fDate

12-14 May 1992

Firstpage

2527

Abstract

Smooth time-varying laws can solve the stabilization problem of nonholonomic mechanical systems. The authors show that by means of dynamic state feedback, it is possible for three-wheeled mobile robots to track arbitrary fast trajectories not reduced to equilibrium points. Dynamical modeling of nonholonomic mechanical systems for the case of three-wheeled mobile robots is considered. Dynamic feedback allows solution of the tracking problem for an omnidirectional mobile robot with less motors than degrees of freedom. This is possible by choosing output functions depending on the mass repartition of the robot

Keywords

feedback; linearisation techniques; mobile robots; position control; stability; dynamic feedback linearisation; dynamic state feedback; nonholonomic wheeled mobile robots; omnidirectional mobile robot; stability; trajectory tracking; Controllability; Heuristic algorithms; Lagrangian functions; Manipulators; Mechanical systems; Mobile robots; Robot kinematics; State feedback; Trajectory; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Conference_Location

Nice

Print_ISBN

0-8186-2720-4

Type

conf

DOI

10.1109/ROBOT.1992.220061

Filename

220061