RESEARCH ON TRAJECTORY TRACKING CONTROL OF NONHOLONOMIC WHEELED MOBILE SERVICE ROBOTS
Nonholonomic wheeled mobile service robot’s posture error model denoted by cartesian coordinates in local coordinates is established. A novel nonlinear state feedback trajectory tracking control law is proposed，which causes closed-loop system state space euqation of robot to have isolated euqilibrium state at origin. Through analysing the local uniform asymptotical stability at origin and the instability of isolated boundary equilibrium state at non-origin under the proposed trajectory tracking control law，the scale of control parameters is confirmed. By Lyapunov candidate function method，this paper concludes that the elosed-loop system is globally uniformly asymptotically stable at origin. Simulation results show the effectiveness of the proposed control law.
nonholonomic wheeled mobile robots trajectory tracking control nonlinear state feedback Lyapunov candidate function method
CHANG Jiang MENG Qingxin
College of Mechanical and Electronic Engineering,Harbin Engineering University,Harbin ,150001, China College of Mechanical Engineering,Jiamusi University,Jiamusi, 154007, China
国际会议
International Technology and Innovation Conference 2009(2009技术与创新国际学术会议)
西安
英文
1-5
2009-10-12（万方平台首次上网日期，不代表论文的发表时间）