DocumentCode
3328506
Title
Robust trajectory tracking algorithms for a wheeled mobile robot
Author
Petrov, Plamen P.
fYear
1991
fDate
28 Oct-1 Nov 1991
Firstpage
1071
Abstract
Control algorithms for a wheeled mobile robot to achieve trajectory tracking are presented. A complete electromechanical model is obtained by incorporating the dynamic models of the actuators in the dynamic equations of a tricycle vehicle. The control scheme has been divided into two levels, namely, path error control and motor control. A method based on the acceleration feedback is applied at a lower level of control. Simulation results are given to illustrate the controller design procedure and the performance of the controller
Keywords
Actuators; Equations; Error correction; Mobile robots; Motor drives; Robot control; Robustness; Trajectory; Vehicle dynamics; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on
Conference_Location
Kobe
Print_ISBN
0-87942-688-8
Type
conf
DOI
10.1109/IECON.1991.239142
Filename
239142
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