Dynamics and control for Constrained Multibody Systems modeled with Maggi's equation: Application to Differential Mobile Robots PartII

被引：2

作者：

Amengonu, Yawo H. ^{[1
]}

Kakad, Yogendra P. ^{[1
]}

机构：

[1] Univ N Carolina, Dept Elect & Comp Engn, Charlotte, NC 28223 USA

来源：

27TH INTERNATIONAL CONFERENCE ON CADCAM, ROBOTICS AND FACTORIES OF THE FUTURE 2014 | 2014年 / 65卷

关键词：

D O I：

10.1088/1757-899X/65/1/012018

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Quasivelocity techniques were applied to derive the dynamics of a Differential Wheeled Mohile Rohot (DWMR) in the companion paper. The present paper formulates a control system design for trajectory tracking of this class of robots. The method develops a feedback linearization technique for the nonlinear system using dynamic extension algorithm. The effectiveness of the nonlinear controller is illustrated with simulation example.

引用

页数：5