Modeling and feedback control of mobile robots equipped with several steering wheels

Author

Thuilot, Benoit ; Andréa-Novel, Brigitte D. ; Micaelli, Alain

Author_Institution

Service de Teloperation et de Robotique, CEA, Fontenay-aux-Roses, France

Volume

12

Issue

3

fYear

1996

fDate

6/1/1996 12:00:00 AM

Firstpage

375

Lastpage

390

Abstract

This paper deals with state feedback control of nonholonomic systems whose configuration space presents some singular points. The whole study is driven on the example of mobile robots equipped with several steering wheels. Linearizing dynamic feedback and time-varying feedback are successively considered to handle the tracking of a moving reference trajectory and the stabilization of the robots to a rest configuration, respectively. Both laws are designed in such a way that the systems singular configurations cannot definitely be met. Finally, a commutation procedure between the two laws is presented, in order to handle the very natural problem of tracking a reference trajectory ended by a rest configuration

Keywords

linearisation techniques; mobile robots; stability; state feedback; dynamic feedback; feedback control; linearization; mobile robots; modeling; nonholonomic systems; rest configuration; singular points; stabilization; state feedback control; steering wheels; time-varying feedback; Automatic control; Control systems; Equations; Feedback control; Mobile robots; Robotics and automation; State feedback; Time varying systems; Trajectory; Wheels;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.499820

Filename

499820