论文信息 - NONLINEAR PATH CONTROL FOR A DIFFERENTIAL DRIVE MOBILE ROBOT

NONLINEAR PATH CONTROL FOR A DIFFERENTIAL DRIVE MOBILE ROBOT

A nonlinear feedback path controller for a differe ntial drive mobile robot is presented in this paper . First, a kinematic model in error coordinates expressed in a moving reference frame partially linked to the rob ot is developed. The control law is designed using backstepping method yielding exponential stability of the closed-loo p system. Stability analysis is performed via Lyapunov stabil ity theory. Simulation results are presented to ill ustrate the effectiveness of the proposed controller.

Lubomir Dimitrov | Plamen G. Petrov

[1] Georges Bastin,et al. Control of Nonholonomic Wheeled Mobile Robots by State Feedback Linearization , 1995, Int. J. Robotics Res..

[2] José Luis Sevillano,et al. A path following control for unicycle robots , 2001, J. Field Robotics.

[3] C. Samson. Control of chained systems application to path following and time-varying point-stabilization of mobile robots , 1995, IEEE Trans. Autom. Control..

[4] M.I. El-Hawwary,et al. Global path following for the unicycle and other results , 2008, 2008 American Control Conference.

[5] Plamen Petrov,et al. Path control during backward driving of a tractor-trailer with off-axle hitching , 1999 .

[6] Weiping Li,et al. Applied Nonlinear Control , 1991 .

[7] Miroslav Krstic,et al. Nonlinear and adaptive control de-sign , 1995 .

[8] R. W. Brockett,et al. Asymptotic stability and feedback stabilization , 1982 .

[9] P. P. Petrov,et al. Control Algorithms For An Autonomous Vehicle , 1993, Proceedings of the Intelligent Vehicles '93 Symposium.

[10] Plamen Petrov,et al. Discontinuous control for the parking problem of a mobile robot with four steering wheels , 2008 .

[11] Ilya Kolmanovsky,et al. Developments in nonholonomic control problems , 1995 .