Title :
A near optimal tracking control of dynamic nonholonomic systems
Author :
Wang, Jing ; Qu, Zhihua
Author_Institution :
Electr. Eng., Central Florida Univ., Orlando, FL, USA
Abstract :
In this paper, the tracking problem of dynamic nonholonomic systems is investigated. By separately considering kinematic and dynamic models of a nonholonomic system, a new real-time near-optimal control is proposed based on the backstepping design. Besides being implementable online, the proposed control has the property that its closeness to the optimal control obtained off-line and numerically can be measured and monitored. To show its effectiveness, the proposed control is simulated for a unicycle wheeled mobile robot.
Keywords :
control system synthesis; mobile robots; optimal control; robot dynamics; robot kinematics; tracking; backstepping design; dynamic models; dynamic nonholonomic systems; kinematic model; near-optimal control; optimal tracking control; unicycle wheeled mobile robot; Control systems; Force control; Kinematics; Monitoring; Optimal control; Real time systems; Riccati equations; Signal design; Symmetric matrices; Torque control;
Conference_Titel :
Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on
Print_ISBN :
0-7803-7925-X
DOI :
10.1109/RISSP.2003.1285574
