DocumentCode
3220727
Title
Trajectory tracking control of a nonholonomic mobile robot
Author
Yuan, Z.P. ; Wang, Z.P. ; Chen, Q.J.
Author_Institution
Dept. of Control Sci. & Eng., Tongji Univ., Shanghai, China
fYear
2010
fDate
9-11 June 2010
Firstpage
2207
Lastpage
2211
Abstract
In this paper, feedback tracking control for wheeled nonholonomic mobile robots is proposed based on kinematic model. Coordinate transformations are used firstly to transform the robot kinematics into chained form. Then the two controllers are designed separately and backstepping technology is used to design the controllers. The simulation results demonstrate the effectiveness of the proposed controllers.
Keywords
control system synthesis; mobile robots; position control; robot kinematics; coordinate transformations; feedback tracking; nonholonomic mobile robot; robot kinematics; trajectory tracking control; Angular velocity control; Automatic control; Backstepping; Control systems; Mobile robots; Orbital robotics; Robot kinematics; Space technology; Trajectory; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Control and Automation (ICCA), 2010 8th IEEE International Conference on
Conference_Location
Xiamen
ISSN
1948-3449
Print_ISBN
978-1-4244-5195-1
Electronic_ISBN
1948-3449
Type
conf
DOI
10.1109/ICCA.2010.5524373
Filename
5524373
Link To Document