Designing approach on trajectory-tracking control of mobile robot

Robotics and Computer-Integrated Manufacturing

Volumn 21, Issue 1, 2005, Pages 81-85

  Sun, Shuli ^a  

^a HEILONGJIANG UNIVERSITY   (China)

Author keywords

Dynamic extension approach; Exact feedback linearization; Globally tracking bound; Trajectory tracking

Indexed keywords

ALGORITHMS; COMPUTER AIDED MANUFACTURING; CONTROL THEORY; CONTROLLABILITY; FEEDBACK CONTROL; INVARIANCE; INVERSE KINEMATICS; LINEARIZATION; NONLINEAR SYSTEMS; TRACKING (POSITION);

DYNAMIC EXTENSION APPROACH; EXACT FEEDBACK LINEARIZATION; GLOBALLY TRACKING BOUND; TRAJECTORY TRACKING;

MOBILE ROBOTS;

EID: 7044272342     PISSN: 07365845     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.rcim.2004.04.002     Document Type: Article

References (9)

1. D'Andrea-Novel B., Campion G., Bastin G. Control of nonholonomic wheeled mobile robots by state feedback linearization. Int J Robot Res. 14(6):1995;543-559.
2. Zhongping Jiang., Henk Nijmeijer. Tracking control of mobile robots. a case study in backstepping Automatica. 33(7):1997;1393-1399.
3. Brockett RW. Asymptotic stability and feedback stabilization. In: Differential geometric control theory. Boston: Birkhauser; 1983. p. 181-91.
4. Kolmanovsky I., McClamroch N.H. Developments in nonholonomic control problems. IEEE Control System. 15(6):1995;20-36.
5. Wu Wei-.Guo., Chen Hui-.Tang., Wang Yue-.Juan. Global trajectory tracking control of mobile robots. Acta Autom. Sin. 27(3):2001;326-331.
6. Li Shi-.Hua., Tian Yu-.Ping. Tracking control of mobile robot. Control and Decision. 15(5):2000;626-628.
7. KyuCheol Park., Hakyoung Chun., Jang Gyulee. Point stabilization of mobile robots via state-space exact feedback linearization. Robotics Comput Integ Manuf. 16:2000;353-363.
8. Slotine J.J., Li W. Applied nonlinear control. 1991;Prentice-Hall, Englewood Cliffs, NJ.
9. Feng CB, Fei SM. Analysis and design of nonlinear control system, 2nd ed. Beijing: Publishing House of Electronics Industry; 1998.