A trajectory tracking control method for nonholonomic mobile robots

Author

Zhang, Huai-xiang ; Dai, Guo-jun ; Zeng, Hong

Author_Institution

Hangzhou Dianzi Univ., Hangzhou

Volume

1

fYear

2007

fDate

2-4 Nov. 2007

Firstpage

7

Lastpage

11

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICWAPR.2007.4420626

Filename

4420626