Trajectory tracking of steering system mobile robot

Author

Sanhoury, Ibrahim M H ; Amin, Shamsudin H M ; Husain, Abdul Rashid

Author_Institution

Centre for Artificial Intell. & Robot., Univ. Teknol. Malaysia, Skudai, Malaysia

fYear

2011

fDate

17-19 May 2011

Firstpage

1

Lastpage

5

Abstract

In this paper, the kinematic model of nonholonomic differential wheeled mobile robot steering system is established. Based on the model, a nonlinear feedback path tracking controller is proposed, which causes the closed loop system state equation for the robot to have equilibrium condition at the origin. Lyapunov candidate function is used to prove that the closed loop system is asymptotically stable at origin. Simulation results verify the usefulness of the tracking control approach.

Keywords

Lyapunov methods; asymptotic stability; closed loop systems; feedback; mobile robots; nonlinear control systems; position control; robot kinematics; steering systems; Lyapunov candidate function; asymptotic stability; closed loop system; closed loop system state equation; equilibrium condition; kinematic model; nonholonomic differential wheeled mobile robot steering system; nonlinear feedback path tracking controller; trajectory tracking; Automation; Mobile robots; Robot kinematics; Steering systems; Tracking; Trajectory; feedback linearization; nonholonomic; steering system; trajectry tracking; wheeled mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics (ICOM), 2011 4th International Conference On

Conference_Location

Kuala Lumpur

Print_ISBN

978-1-61284-435-0

Type

conf

DOI

10.1109/ICOM.2011.5937124

Filename

5937124