Title :
Global trajectory tracking control of nonholonomic WMRs with driving motor dynamics being considered
Author :
Guangxin, Han ; Yanhui, Zhao
Author_Institution :
Jilin Inst. of Chem. Technol., Jilin, China
Abstract :
In this paper global trajectory tracking control problem for nonholonomic wheeled mobile robots with the actuator, that is, driving motor dynamics being considered is studied. On the basis of rotation error transformation and backstepping technique, tracking control law designed for kinematic model is backstepped into dynamic model and furthermore actuator dynamics is involved. Closed-loop stability is guaranteed by Lyapunov stability theory. Finally simulation results for tracking typical trajectory are presented.
Keywords :
Lyapunov methods; actuators; closed loop systems; control system synthesis; mobile robots; position control; robot dynamics; robot kinematics; stability; wheels; Lyapunov stability theory; actuator dynamics; backstepping technique; closed-loop stability; driving motor dynamics; global trajectory tracking control; kinematic model; nonholonomic wheeled mobile robot; rotation error transformation; tracking control law design; Actuators; Backstepping; DC motors; Lyapunov methods; Mobile robots; Trajectory; Global tracking; actuator dynamics; backstepping; wheeled mobile robot;
Conference_Titel :
Intelligent Control and Information Processing (ICICIP), 2011 2nd International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4577-0813-8
DOI :
10.1109/ICICIP.2011.6008328
