Title :
Omni-directional mobile robot controller design by trajectory linearization
Author :
Liu, Yong ; Wu, Xiaofei ; Zhu, J. Jim ; Lew, Jae
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Ohio Univ., Athens, OH, USA
Abstract :
In this paper, modeling and nonlinear controller design for an omnidirectional mobile robot are presented. Based on the robot dynamics model, a nonlinear controller is designed using the trajectory linearization control (TLC) method. Some simulation results of the controller are presented.
Keywords :
control system synthesis; linearisation techniques; mobile robots; nonlinear control systems; robot dynamics; nonlinear controller design; omnidirectional mobile robot controller design; robot dynamics model; trajectory linearization; DC motors; Feedback; Mobile robots; Robot control; Robot sensing systems; Servomechanisms; Servomotors; Trajectory; Vehicle dynamics; Wheels;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1244061
