標題: Tracking control of mobile robots without constraint on velocities
作者: Lee, CH
Lee, TC
Teng, CC
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: mobile robots;tracking;time-varying system;non-linear systems;backstepping
公開日期: 1-Sep-2001
摘要: A general tracking control problem for mobile robots is proposed and solved using the backstepping technique. A global result is given for the kinematic steering system to make the tracking error approaching to zero asymptotically. Based on our efforts, the proposed controller can solve both the tracking problem and the regulation problem of mobile robots. In particular, mobile robots can now globally follow any differentiable with bounded velocities path such as a straight line, a circle and the path approaching to the origin using the proposed controller. Moreover, the problem of back-into-garage parking is also solved by our approach. Some interesting simulation results are given to illustrate the effectiveness of the proposed tracking control laws.
URI: http://hdl.handle.net/11536/29401
ISSN: 0916-8508
期刊: IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES
Volume: E84A
Issue: 9
起始頁: 2280
結束頁: 2287
Appears in Collections:Articles