Abstract
Trajectory tracking is an important behaviour for mobile robots. This paper addresses the nonlinear trajectory tracking control problem for a nonholonomic car-like mobile robot with a constrained state. Compared with the existing works on the nonholonomic car-like mobile robots, the state constraint is emphasized in this work. The controllability of the system under the state constraint is checked firstly from the sense of nonlinear geometric control. A nonlinear tracking controller is then achieved by taking advantage of the dynamic feedback linearization technique. Moreover, the obtained controller can be exploited to simultaneously solve both the tracking and regulation problems of the car-like mobile robot with the constrained state. The effectiveness of the proposed control law to trajectory tracking control is demonstrated by simulation results.
| Original language | English |
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| Title of host publication | Proceedings of the Control 2004 Conference |
| Editors | M. Necip Sahinkaya, Kevin A. Edge |
| Number of pages | 6 |
| Publication status | Published - Sep 2004 |
| Event | UKACC Control Conference 2004 - University of Bath, Bath, United Kingdom Duration: 6 Sep 2004 → 9 Sep 2004 http://ukacc.group.shef.ac.uk/proceedings/control2004/Start.htm |
Conference
| Conference | UKACC Control Conference 2004 |
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| Abbreviated title | Control 2004 |
| Country/Territory | United Kingdom |
| City | Bath |
| Period | 6/09/04 → 9/09/04 |
| Internet address |
Keywords
- nonlinear tracking contro
- mobile robot
- feedback linearization
- constrained-state feedback control