Feedback control design of differential-drive wheeled mobile robots

Author

He, Shouling

Author_Institution

Dept. of Electr. & Comput. Eng., Pennsylvania State Univ.

fYear

2005

fDate

18-20 July 2005

Firstpage

135

Lastpage

140

Abstract

The control system design of differential-drive wheeled robots in the approach of approximate feedback linearization is presented in this paper. A differential-drive wheeled mobile robot is a highly nonlinear multi-input/multi-output system. Traditional techniques can not result in a control system design with satisfactory performance. In this paper, we propose to reasonably choose the state variables so that the control design can be implemented in the sense of approximate linearization. To assess the proposed method for control of differential-driven mobile robot, we compare its performance with that under a conventional linearised controller. Simulation results demonstrate that the approximate feedback linearization can provide much better performance than the normal linearized control system design

Keywords

MIMO systems; control system synthesis; feedback; linearisation techniques; mobile robots; nonlinear control systems; approximate feedback linearization; control system design; differential-drive wheeled mobile robots; feedback control design; nonlinear multiinput multioutput system; Control design; Control systems; Feedback control; Linear approximation; Linear feedback control systems; Mobile robots; Robot kinematics; Stability; State feedback; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on

Conference_Location

Seattle, WA

Print_ISBN

0-7803-9178-0

Type

conf

DOI

10.1109/ICAR.2005.1507403

Filename

1507403