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
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;
Conference_Titel :
Control and Automation (ICCA), 2010 8th IEEE International Conference on
Conference_Location :
Xiamen
Print_ISBN :
978-1-4244-5195-1
Electronic_ISBN :
1948-3449
DOI :
10.1109/ICCA.2010.5524373
