Title :
Exponential control law for a mobile robot: extension to path following
Author :
Sørdalen, O.J. ; De Wit, C. Canudas
Author_Institution :
Div. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway
fDate :
12/1/1993 12:00:00 AM
Abstract :
A piecewise smooth feedback control law for path following for the kinematic model of a nonholonomic mobile robot is proposed. The resulting motion can consist of stopping and reversing phases. The desired path is supposed to be composed of straight lines and arcs of circles joined at intermediate configurations. The proposed feedback control law yields exponential convergence to configurations representing stopping phases and to the terminal configuration
Keywords :
feedback; kinematics; mobile robots; position control; exponential control; kinematic model; nonholonomic mobile robot; path following; piecewise smooth feedback control; reversing phases; stopping phases; Automatic control; Force control; Impedance; Kinematics; Manipulator dynamics; Mobile robots; Motion control; Orbital robotics; Robot control; Robotics and automation;
Journal_Title :
Robotics and Automation, IEEE Transactions on
