A new control algorithm for a nonholonomic mobile robot

• Autorzy: Kozłowski K. , Majchrzak J.
• Języki publikacji: EN

Abstrakty

EN

In this paper a trajectory tracking control problem for a nonholonomic mobile robot by making use of a kinematic oscillator has been solved. Firstly - time varying oscillator is axamined to control nonholomic mobile robot based only on its kinematics. Secondly - backstepping procedure is proposed to include robot dynamics and servo loop. It is shown that overall multilevel controller is asymptotically globally stable to a amall error different from zero. A wide range of simulation results are presented which illustrate behaviour of the controller with respect to tuning its parameters. Some preliminary experiments are reported too.

Słowa kluczowe

EN

mobile robot; nonholonomic constraints; backstepping procedure

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2002
• Tom: Vol. 12, no. 1/2
• Strony: 37--69
• Opis fizyczny: Bibliogr. 31 poz., rys.

Twórcy

autor

Kozłowski K.

• Poznań University of Technology, Institute of Control and Systems Engineering, ul. Piotrowo 3a, 60-965 Poznań, Poland

autor

Majchrzak J.

• Poznań University of Technology, Institute of Control and Systems Engineering, ul. Piotrowo 3a, 60-965 Poznań, Poland

Bibliografia

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