Title :
A unified discontinuous state feedback controller for the path-following and the point-stabilization problems of a unicycle-like mobile robot
Author :
Tayebi, A. ; Rachid, A.
Author_Institution :
Lab. des Syst. Autom., Univ. de Picardie, Jules Verne, France
Abstract :
A unified kinematics model is derived for the path-following and the point-stabilization problems of a wheeled mobile robot, using a signed polar representation. The mobile target configuration is represented by the motion of a reference mobile robot which has the same kinematics constraints as the real one. Thereafter, the two problems are solved simultaneously by means of a state feedback control law which is discontinuous at the origin. Finally, simulation results are given to demonstrate the controller´s effectiveness
Keywords :
control system synthesis; mobile robots; path planning; robot kinematics; sampled data systems; stability; state feedback; kinematics constraints; path following; point-stabilization problem; signed polar representation; unicycle-like mobile robot; unified discontinuous state feedback controller; unified kinematics model; wheeled mobile robot; Automatic control; Control systems; Electronic mail; Kinematics; Mobile robots; Motion control; Nonlinear systems; State feedback; Target tracking; Vehicles;
Conference_Titel :
Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on
Conference_Location :
Hartford, CT
Print_ISBN :
0-7803-3876-6
DOI :
10.1109/CCA.1997.627459
