Switched feedback tracking control of a nonholonomic mobile robot

被引：0
|
作者：
Reyhanoglu, Mahmut [1 ]
Geluk, Theo [2 ]
机构：
[1] Embry Riddle Aeronaut Univ, Dept Phys Sci, Daytona Beach, FL 32114 USA
[2] Eindhoven Univ Technol, Dept Mech Engn, NL-5600 JA Eindhoven, Netherlands
来源：
IECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11 | 2006年
关键词：
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：
This paper studies the tracking problem for a car-like nonholonomic mobile robot. A switched feedback control law is developed to achieve global tracking. The control law avoids singularities arising from coordinate transformations used to describe the robot kinematics in chained form. The paper provides a detailed derivation of the control law. Simulation examples are included to illustrate the effectiveness of the tracking controller.
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页码：1003 / +
页数：2
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