Title :
On linear and nonlinear tracking of the wheeled mobile robot
Author :
Rafikova, E. ; Kurka, P.R.G. ; Pereira, F.L. ; Rafikov, M.
Author_Institution :
UNICAMP-State Univ. of Campinas, Campinas, Brazil
Abstract :
This paper presents two different trajectory tracking control strategies for wheeled mobile robot. The first strategy presents a time-varying linear feedback control law and the second strategy is based on state dependent Ricatti equation (SDRE) method. Numerical simulation results indicated that both methods can be successfully used for control of the robot system.
Keywords :
Riccati equations; feedback; linear systems; mobile robots; nonlinear control systems; position control; time-varying systems; nonlinear tracking; state dependent Ricatti equation; time-varying linear feedback control; trajectory tracking control; wheeled mobile robot; Control systems; Equations; Feedback control; Mobile robots; Orbital robotics; Robot control; Service robots; Sliding mode control; Trajectory; Wheels;
Conference_Titel :
Control Applications, (CCA) & Intelligent Control, (ISIC), 2009 IEEE
Conference_Location :
Saint Petersburg
Print_ISBN :
978-1-4244-4601-8
Electronic_ISBN :
978-1-4244-4602-5
DOI :
10.1109/CCA.2009.5280990
