Unified Nonlinear Control for Car-like Mobile Robot 4 Wheels Steering

被引：0
|
作者：
Vargas, Mario F. [1 ]
Sarzosa, Darwin S. [1 ]
Andaluz, Victor H. [1 ]
机构：
[1] Univ Fuerzas Armadas ESPE, Sangolqui, Ecuador
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2018), PT II | 2018年 / 10985卷
关键词：
Stability and robustness proof; Unified motion control; Non-linear systems; Car-like mobile robot four-wheel steering;
D O I：
10.1007/978-3-319-97589-4_16
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This document presents a unified movement control scheme for mobile robots, a mobile four-wheel steering robot, which solves the control of the position of points, tracking problems of trajectories and path following. The control problem is solved according to the CLMR-4WS kinematic model. Then, a control scheme of two angular positions and one heading velocity is considered. The stability of the system is shown through the Lyapunov method.
引用
收藏
页码：182 / 194
页数：13
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