A novel trajectory-tracking control law for wheeled mobile robots

2011 ◽  
Vol 59 (11) ◽  
pp. 1001-1007 ◽  
Author(s):  
Sašo Blažič
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Law ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control

Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots with Actuator Dynamic Being Considered

2012 ◽  
Vol 433-440 ◽  
pp. 2596-2601 ◽  
Author(s):  
Guang Xin Han ◽  
Yan Hui Zhao
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Closed Loop ◽  
Kinematic Model ◽  
Lyapunov Theory ◽  
Control Law ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Actuator Dynamics

In this paper trajectory tracking control problem for nonholonomic wheeled mobile robots with the actuator 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 theory and Routh-Hurwitz Criterion. Finally simulation results for tracking typical trajectory are presented.

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