A stable tracking control method for a non-holonomic mobile robot

Abstract

The major objective of this paper is to propose a stable control rule to find a reasonable target linear and rotational velocities (v, w)'. The stability of the rule is proved through the use of a Liapunov function. The rule contains three parameters, Kx, Ky and Ke. Although any set of positive parameters makes the system stable, a condition on the parameters for the system being critically damped for a small disturbance is obtained through linearizing the system's differential equation. This method was successfully implemented on the autonomous mobile robot Yamabico-11. Experimental results obtained tum out to be close to the results with the velocity/acceleration limiter.

Backward-motion control of a mobile robot with n passive off-hooked trailers

“…We employ Kanayama's controller given in Ref. [20]. The definition of the tracking error, The reference point [ , , ] T X x y θ = indicates the midpoint of the wheel axle of the last trailer, as shown in Fig.…”

“…The definition of the tracking error, The reference point [ , , ] T X x y θ = indicates the midpoint of the wheel axle of the last trailer, as shown in Fig. 1 [20], Lyapunov stability was established for the linearized model. When…”

Experimental tests of autonomous ground vehicles with preview

“…In terms of the vehicle tracking control, a novel time varying feedback control law is proposed as in (14).…”

“…On the other hand, the tracking performance can be easily tuned by assigning the poles to the required locations through properly choosing control parameters k1, k2 and k3. This greatly simplifies the control parameter tuning process, as compared to other local controllers [10,14] .…”

Analysis and Control of a Gait of Snake Robot

“…If we write this constraint as (5) since IFAI 0 0, (4) can be represented as (6) Note that (7) holds between the absolute angle and the relative angle, and thus the velocity constraint in terms of the relative angle is expressed by (8) The purposes of this study can be expressed as to control the final position of w using u = p and to investigate whether the body of the robot undulates properly.…”