Title :
Full state tracking and internal dynamics of nonholonomic wheeled mobile robots
Author :
Wang, Danwei ; Xu, Guangyan
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
Abstract :
Output tracking control and internal stability are analyzed for restricted mobile robots. Tracking error dynamics offers insights into the properties and stability of the input-output subsystem as well as the internal dynamics. Sufficient conditions for the full state tracking are developed. A type (1,1) mobile robot is studied in details and simulation results are presented to confirm the theory
Keywords :
mobile robots; position control; robot dynamics; tracking; full state tracking; input-output subsystem; internal dynamics; internal stability; nonholonomic wheeled mobile robots; output tracking control; restricted mobile robots; sufficient conditions; tracking error dynamics; type (1,1) mobile robot; Control systems; Error correction; Feedback control; Mobile robots; Robot kinematics; Stability; Sufficient conditions; Tracking; Trajectory; Wheels;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.879170
