Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots

摘要：

Nonholonomic wheeled mobile 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 closedloop system state space equation of robot to have isolated equilibrium 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 closed-loop system is globally uniformly asymptotically stable at origin. Simulation results show the effectiveness of the proposed control law.

关键词： trajectory tracking nonholonomic wheeled mobile robots nonlinear state feedback

作者: Jiang Chang Qingxin Meng

作者单位: College of Mechanical and Electronic Engineering Harbin Engineering University Harbin,Heilongjiang Province,China

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-5

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）