Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots

被引：53
|
作者：
Akhtar, Adeel [1 ]
Nielsen, Christopher [2 ]
Waslander, Steven L. [1 ]
机构：
[1] Univ Waterloo, Dept Mech & Mechatron Engn, Waterloo, ON N2L 3G1, Canada
[2] Univ Waterloo, Dept Elect & Comp Engn, Waterloo, ON N2L 3G1, Canada
来源：
IEEE TRANSACTIONS ON ROBOTICS | 2015年 / 31卷 / 02期
基金：
加拿大自然科学与工程研究理事会;
关键词：
Control design; motion control; mobile robots; nonlinear control systems; nonlinear dynamical systems; nonlinear systems; robot control; REPRESENTATION; PERFORMANCE; LIMITATIONS; TRACKING;
D O I：
10.1109/TRO.2015.2395711
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper presents an approach for designing path-following controllers for the kinematic model of car-like mobile robots using transverse feedback linearization with dynamic extension. This approach is applicable to a large class of paths and its effectiveness is experimentally demonstrated on a Chameleon R100 Ackermann steering robot. Transverse feedback linearization makes the desired path attractive and invariant, while the dynamic extension allows the closed-loop system to achieve the desired motion along the path.
引用
收藏
页码：269 / 279
页数：11
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