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

fYear

1997

fDate

5-7 Oct 1997

Firstpage

31

Lastpage

35

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on

Conference_Location

Hartford, CT

Print_ISBN

0-7803-3876-6

Type

conf

DOI

10.1109/CCA.1997.627459

Filename

627459