Title :
Dynamic control of a nonholonomic mobile robot in Cartesian space
Author :
Tounsi, Mohammed ; Lebret, Guy ; Gautier, Maxime
Author_Institution :
Lab. d´´Autom., CNRS, Nantes, France
Abstract :
This paper is focused on dynamic control of a mobile robot in Cartesian space. The control scheme is divided in two levels: a high level to control the position and the orientation of the platform, and a low level to regulate the velocity of the wheels. Experimental results show the advantage of introducing an identified dynamic model in the low level controller over a simplified model
Keywords :
identification; mobile robots; nonlinear control systems; position control; robot dynamics; torque control; velocity control; Cartesian space; computed torque; dynamic control; nonholonomic mobile robot; nonlinear control; orientation control; parameter identification; position control; velocity control; Lagrangian functions; Manipulator dynamics; Mechanical systems; Mobile robots; Orbital robotics; Prototypes; Robot control; Robot kinematics; Velocity control; Wheels;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.479194
