Title :
Mobile robot position tracking control law based on stabilization
Author :
Wang, Qizhi ; Wang, Xiaoxia
Author_Institution :
Coll. of Mech. Eng. & Autom., Huaqiao Univ., Xiamen, China
Abstract :
This paper presents control law, in the dynamics level, for the nonholonomic mobile robots. Lyapunov stable technique is used, for tracking a reference trajectory and stability. The presented control law can get system asymptotically stability. It has good position tracking performance.
Keywords :
Lyapunov methods; asymptotic stability; mobile robots; position control; robot dynamics; Lyapunov stable technique; asymptotic stability; dynamics level; nonholonomic mobile robot; position tracking control law; reference trajectory tracking; stability tracking; stabilization; Asymptotic stability; Electrical engineering; Mobile communication; Mobile robots; Stability analysis; Trajectory; lyapunov stability Stability and tracking; mobile robot;
Conference_Titel :
Electric Information and Control Engineering (ICEICE), 2011 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-8036-4
DOI :
10.1109/ICEICE.2011.5777684
