Title :
A trajectory tracking control method for nonholonomic mobile robots
Author :
Zhang, Huai-xiang ; Dai, Guo-jun ; Zeng, Hong
Author_Institution :
Hangzhou Dianzi Univ., Hangzhou
Abstract :
To study the trajectory tracking control based on the kinematic model of a 2-wheel differentially driven mobile robot, a variable structure control algorithm is proposed. By using of the backstepping method and virtual feedback parameter with the signum function, a variable structure tracking controller is designed for the mobile robot. The global asymptotic stability of the closed-loop system is guaranteed by Lyapunov direct method. Simulation results show the effectiveness of the proposed algorithm.
Keywords :
Lyapunov methods; asymptotic stability; closed loop systems; feedback; mobile robots; position control; variable structure systems; Lyapunov direct method; backstepping method; closed-loop system; global asymptotic stability; kinematic model; nonholonomic mobile robot; signum function; trajectory tracking control; variable structure tracking control; virtual feedback parameter; Angular velocity; Asymptotic stability; Backstepping; Control systems; Feedback; Kinematics; Mathematical model; Mobile robots; Trajectory; Wavelet analysis; Mobile robots; integral backstepping; trajectory tracking; variable structure control;
Conference_Titel :
Wavelet Analysis and Pattern Recognition, 2007. ICWAPR '07. International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-1065-1
Electronic_ISBN :
978-1-4244-1066-8
DOI :
10.1109/ICWAPR.2007.4420626
