Title :
An affine nonlinear control approach to mobile robot with nonholonomic orthogonal-wheels
Author :
Liu, Kaizhou ; Zhao, Ping ; Sun, Maoxiang ; Dong, Zaili
Author_Institution :
Sch. of Inf. Sci. & Eng., Shenyang Univ. of Technol., China
Abstract :
In this paper, we present an affine nonlinear control approach based on the differential geometric point of view, according to the tracking problem of the mobile robot with nonholonomic orthogonal-wheels. This approach can not only be applied to nonlinear control system, but also to a nonlinear control system with strong coupling. The simulation results show that the approach has a very effective result on the tracking problem of the mobile robot.
Keywords :
differential geometry; mobile robots; nonlinear control systems; robot dynamics; tracking; affine nonlinear control; differential geometry; mobile robot; nonholonomic orthogonal-wheels; nonlinear control system; nonlinear geometry theory; tracking; Control systems; Couplings; Intelligent robots; Laboratories; Linear systems; Mobile robots; Nonlinear control systems; Nonlinear systems; Robot kinematics; Sun;
Conference_Titel :
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN :
0-7803-7268-9
DOI :
10.1109/WCICA.2002.1020825
