Title :
Dynamic identification and control of a nonholonomic mobile robot
Author :
Tounsi, Mohammed ; Lebret, Guy ; Gautier, Maxime
Author_Institution :
Lab. d´´Autom., CNRS, Nantes, France
Abstract :
Identifies dynamic equations, for a mobile robot with nonholonomic constraints, and uses them to implement a computed torque control law. The model is linear in relation to a minimum set of dynamical parameters which have to be identified. These parameters are identified using least squares techniques as this is commonly done for robot manipulators. Using the identification dynamic model the authors then implement a computed torque control law in the joint space in order to track a desired cartesian trajectory. The results are compared with a classical PID control law
Keywords :
mobile robots; cartesian trajectory tracking; classical PID control law; computed torque control law; dynamic control; dynamic identification; dynamical parameters; joint space; least squares techniques; nonholonomic mobile robot; Control system synthesis; Friction; Lagrangian functions; Manipulator dynamics; Mechanical systems; Mobile robots; Robot control; Robot kinematics; Symmetric matrices; Wheels;
Conference_Titel :
Control Applications, 1995., Proceedings of the 4th IEEE Conference on
Conference_Location :
Albany, NY
Print_ISBN :
0-7803-2550-8
DOI :
10.1109/CCA.1995.555777