Global trajectory tracking control of nonholonomic WMRs with driving motor dynamics being considered

Author

Guangxin, Han ; Yanhui, Zhao

Author_Institution

Jilin Inst. of Chem. Technol., Jilin, China

Volume

2

fYear

2011

fDate

25-28 July 2011

Firstpage

640

Lastpage

643

Abstract

In this paper global trajectory tracking control problem for nonholonomic wheeled mobile robots with the actuator, that is, driving motor dynamics being considered is studied. On the basis of rotation error transformation and backstepping technique, tracking control law designed for kinematic model is backstepped into dynamic model and furthermore actuator dynamics is involved. Closed-loop stability is guaranteed by Lyapunov stability theory. Finally simulation results for tracking typical trajectory are presented.

Keywords

Lyapunov methods; actuators; closed loop systems; control system synthesis; mobile robots; position control; robot dynamics; robot kinematics; stability; wheels; Lyapunov stability theory; actuator dynamics; backstepping technique; closed-loop stability; driving motor dynamics; global trajectory tracking control; kinematic model; nonholonomic wheeled mobile robot; rotation error transformation; tracking control law design; Actuators; Backstepping; DC motors; Lyapunov methods; Mobile robots; Trajectory; Global tracking; actuator dynamics; backstepping; wheeled mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Information Processing (ICICIP), 2011 2nd International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4577-0813-8

Type

conf

DOI

10.1109/ICICIP.2011.6008328

Filename

6008328