Mobile robot characterized by dynamic and kinematic equations and actuator dynamics: Trajectory tracking and related application

被引：39

作者：

Zohar, Ilan ^{[1
]}

Ailon, Amit ^{[1
]}

Rabinovici, Raul ^{[1
]}

机构：

[1] Ben Gurion Univ Negev, Dept Elect & Comp Engn, IL-84105 Beer Sheva, Israel

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2011年 / 59卷 / 06期

关键词：

Mobile robot; Kinematics; Dynamics; Actuators; Virtual vehicle; Flat-system; Backstepping; Tracking; Convoy; VEHICLE;

D O I：

10.1016/j.robot.2010.12.001

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 establishes control strategies for wheeled mobile robots which are subjected to nonholonomic constraints. The mobile robot model includes the kinematic and dynamic equations of motion and the actuator dynamics. Using the notion of virtual vehicle and the concept of flatness, and applying the backstepping methodology the paper proposes control schemes for trajectory tracking for the considered augmented model of the mobile robot. The resulting controller ensures exponential convergence to a desired trajectory. Applications of the tracking controller for convoy-like vehicles governed by the augmented models are considered as well. Simulation results and lab experiments are demonstrated. (C) 2011 Elsevier B.V. All rights reserved.

引用

页码：343 / 353

页数：11

共 21 条

[1] On controllability and trajectory tracking of a kinematic vehicle model [J].