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Steering control algorithm for a class of wheeled mobile robots

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2 Author(s)
Rehman, F.U. ; Mohammad Ali Jinnah Univ., Islamabad ; Ahmed, M.M.

The authors present a simple steering control algorithm for a class of non-holonomic wheeled mobile robots. Five different types of wheeled mobile robots are considered. The feedback controls are piece-wise constant, states dependent and the method is based on the construction of a cost function V, which is sum of two semi-positive definite functions V1 and V2. The first m state variables can be steered along the given vector fields directly using the classical controls and remaining n-m state variables can be steered along the missing Lie brackets indirectly. The task of the control strategy is to decay the non-differentiable cost function along the controlled system trajectories only asymptotically. The beauty of the algorithm is that it does not require the conversion of the system models into 'chained form' and does not rely on any special transformation techniques.

Published in:

Control Theory & Applications, IET  (Volume:1 ,  Issue: 4 )