DocumentCode
2277764
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
Volume
4
fYear
2003
fDate
4-6 June 2003
Firstpage
3423
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2003. Proceedings of the 2003
ISSN
0743-1619
Print_ISBN
0-7803-7896-2
Type
conf
DOI
10.1109/ACC.2003.1244061
Filename
1244061
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