Velocity and position tracking controllers for wheeled mobile robots

被引：2

作者：

Montanez-Molina, Carlos ^{[1
]}

Pliego-Jimenez, Javier ^{[2
]}

Arellano-Delgado, Adrian ^{[2
]}

Cruz-Hernandez, Cesar ^{[1
]}

机构：

[1] CICESE, Dept Elect & Telecomunicac, Div Fis Aplicada, Carretera Ensenada Tijuana, Ensenada 3918, BC, Mexico

[2] UABC, Fac Ingn Arquitectura & Diseno, Ensenada, BC, Mexico

来源：

IFAC PAPERSONLINE | 2023年 / 56卷 / 02期

关键词：

Mobile robots; nonholonomic systems; tracking; exponential stability; dynamic feedback linearization;

D O I：

10.1016/j.ifacol.2023.10.1121

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 velocity and position tracking control problems of differential-drive wheeled mobile robots with nonholonomic constraints. We show that these control problems can be solved without using the robot's linear velocity in the feedback loop. The proposed control laws are based on the dynamic feedback linearization technique and render the origin of the closed-loop dynamics globally exponentially stable. The stability analysis is carried out using Lyapunov theory. Finally, to validate the developed theory, we present experimental results on a differential-drive wheeled mobile robot. Copyright (c) 2023 The Authors.

引用

页码：2158 / 2163

页数：6

共 24 条

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