DocumentCode
3118568
Title
Tracking control of mobile robots and its application to formation control
Author
Chen, Peter ; Wan, Jie ; Poo, A.N. ; Ge, S.S.
Author_Institution
Dept. of Mech. Eng., Nat. Univ. of Singapore, Singapore
fYear
2008
fDate
12-15 Oct. 2008
Firstpage
3132
Lastpage
3137
Abstract
In this paper, we investigate stability of a nonlinear tracking control for a mobile robot in connection with the method of artificial potential trench. We first refine the concept of potential trench function and propose several approaches to construct potential trench functions. Then we synthesize a control law that stabilizes a robot while tracking a goal point moving on a given segment (smooth curve) and extend it to a simple case of formation control. Results from computer simulation verify and demonstrate the effectiveness of this novel control.
Keywords
control system synthesis; mobile robots; nonlinear control systems; position control; stability; artificial potential trench; control law synthesis; formation control; mobile robots; nonlinear tracking control stability; Application software; Computer simulation; Mechanical engineering; Mobile robots; Path planning; Robot control; Robot kinematics; Solids; Stability; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 2008. SMC 2008. IEEE International Conference on
Conference_Location
Singapore
ISSN
1062-922X
Print_ISBN
978-1-4244-2383-5
Electronic_ISBN
1062-922X
Type
conf
DOI
10.1109/ICSMC.2008.4811777
Filename
4811777
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