Velocity scheduling controller for a nonholonomic mobile robot

被引：0

作者：

Buccieri, D. ^{[1
]}

Mullhaupt, Ph. ^{[1
]}

Jiang, Z. -P ^{[2
]}

Bonvin, D. ^{[1
]}

机构：

[1] Ecole Polytech Fed Lausanne, Lab Automat, CH-1015 Lausanne, Switzerland

[2] Polytech Univ, Dept Elect & Comp Engn, 6 Metrotech Ctr, Brooklyn, NY 11201 USA

来源：

2006 CHINESE CONTROL CONFERENCE, VOLS 1-5 | 2006年

基金：

美国国家科学基金会;

关键词：

nonlinear control; nonholonomic robots; differential flatness; Lyapunov analysis and control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An improvement over classical dynamic feedback linearization for the control of a nonholonomic mobile robot is proposed. The use of a state extension of higher dimension than in the case of dynamic feedback linearization helps reject constant disturbances on the rotational axis of the robot. The proposed dynamic extension acts as a velocity scheduler for the robot. It specifies at each time instant the ideal translational velocity that the robot should have. By having a two-dimensional state extension, both the magnitude and the orientation of the velocity vector can be generated, which accounts for improved robustness.

引用

页码：1234 / +

页数：2

共 18 条

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