By Topic

Trajectory tracking control of nonholonomic wheeled mobile robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Chang, Jiang ; Coll. of Mech. & Electron. Eng., Harbin Eng. Univ., Harbin, China ; Qingxin Meng

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 closed-loop 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.

Published in:

Information and Automation (ICIA), 2010 IEEE International Conference on

Date of Conference:

20-23 June 2010