Analysis and design of non-time based motion controller for mobile robots

Author

Kang, Wei ; Xi, Ning ; Tan, Jindong

Author_Institution

Dept. of Math., Naval Postgraduate Sch., Monterey, CA, USA

Volume

4

fYear

1999

fDate

1999

Firstpage

2964

Abstract

A design method for non-time based tracking controller of mobile robots is presented. The new design method converts a controller designed by traditional time-based approaches to a non-time based controller using any given action reference. The stability condition of the non-time based tracking controller is developed and theoretically proved. The analysis and design methods are exemplified by a mobile robot tracking control problem. The controller has been implemented and tested in a Nomadic XR4000 mobile robot. The experimental results demonstrate the advantages of proposed method

Keywords

control system analysis; control system synthesis; mobile robots; motion control; position control; stability; Nomadic XR4000 mobile robot; action reference; nontime based motion controller; stability condition; tracking control problem; Automatic control; Control systems; Design methodology; Force control; Mobile robots; Motion analysis; Motion control; Robot control; Robotics and automation; State feedback;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.774047

Filename

774047