Velocity Scheduling Controller for a Nonholonomic Mobile Robot

An improvement over classical dynamic feedback linearization for the control of a nonholonomic mobile robot is proposed. The use of a state extension of higher dimension than in the case of dynamic feedback linearization helps reject constant disturbances on the rotational axis of the robot. The proposed dynamic extension acts as a velocity scheduler for the robot. It specifies at each time instant the ideal translational velocity that the robot should have. By having a two-dimensional state extension, both the magnitude and the orientation of the velocity vector can be generated, which accounts for improved robustness.


Published in:
IEEE Chinese Control Conference
Presented at:
Chinese Control Conference, Harbin, August 2006
Year:
2006
Laboratories:




 Record created 2006-04-28, last modified 2018-01-27

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