会议专题

Tracking and Stabilization Control of WMR by Dynamic Feedback Linearization

This paper considers the dynamic stabilization and tracking control of wheeled mobile robots (WMR) in the environments without obstacles. With reference to the dynamic model of WMR with nonholonomic constraints, a method based on the unifying framework of dynamic feedback linearization with dynamic compensator is presented for solving trajectory tracking as well as posture stabilization problems. The design procedure is discussed in the basis of dynamics model of WMR. Analysis and simulation results are provided to show the effectiveness of the designed controller.

Dynamic feedback linearization wheeled mobile robots nonholonomic systems tracking stabilization

Miaomiao Ma Chen Hong Liu Xiangjie

School of Control and Computer Engineering, North China Electric Power University, No.2 Beinong Road Department of Control Science and Engineering, Jilin University, Campus NanLing, Renmin Str. 5988, 1

国际会议

2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)

四川绵阳

英文

3439-3444

2011-05-23(万方平台首次上网日期,不代表论文的发表时间)