Trajectory-Tracking Control of Mobile Robot via Feedback Linearization

被引：0

作者：

Kabanov, Aleksey A. ^{[1
,2
]}

Stoyanov, Svilen ^{[3
]}

Kabanova, Ekaterina N. ^{[4
]}

机构：

[1] FRC CSC RAS, Moscow, Russia

[2] Sevastopol State Univ, Sevastopol, Russia

[3] Tech Univ Varna, Varna, Bulgaria

[4] Nakhimov Black Sea Higher Naval Sch, Sevastopol, Russia

来源：

PROCEEDINGS OF THE SECOND INTERNATIONAL SCIENTIFIC CONFERENCE INTELLIGENT INFORMATION TECHNOLOGIES FOR INDUSTRY (IITI'17), VOL 2 | 2018年 / 680卷

基金：

俄罗斯科学基金会;

关键词：

Mobile robot; Trajectory-tracking; Feedback linearization; MIMO system; Similarity transformation;

D O I：

10.1007/978-3-319-68324-9_4

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper is devoted to the designing of a trajectory-tracking control system for a unicycle-type mobile robot. Synthesis of the trajectory control law is based on the feedback linearization method and a canonical similarity transformation of nonlinear affine system in state-dependent coefficient form. Proposed system has two control loops: trajectory control loop and velocity control loop. Based on this, the structure of the control system consists of two modules: the reference and the executive. The result of experimental test of the trajectory control system for mobile robot Rover5 is presented.

引用

页码：32 / 41

页数：10

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