Mohd. Amin, Shamsudin and Abdul Rashid, Husain and Sanhoury, I. M. H. (2011) Trajectory tracking of steering system mobile robot. In: 2011 4th International Conference on Mechatronics: Integrated Engineering for Industrial and Societal Development, ICOM'11 - Conference Proceedings. IEEE, Kuala Lumpur, pp. 1-5. ISBN 978-161284435-0
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Official URL: http://dx.doi.org/10.1109/ICOM.2011.5937124
Abstract
In this paper, the kinematic model of nonholonomic differential wheeled mobile robot steering system is established. Based on the model, a nonlinear feedback path tracking controller is proposed, which causes the closed loop system state equation for the robot to have equilibrium condition at the origin. Lyapunov candidate function is used to prove that the closed loop system is asymptotically stable at origin. Simulation results verify the usefulness of the tracking control approach.
| Item Type: | Book Section |
|---|---|
| Uncontrolled Keywords: | feedback linearization, nonholonomic, steering system, trajectry tracking, wheeled mobile robot |
| Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science T Technology > T Technology (General) |
| Divisions: | Others |
| ID Code: | 30196 |
| Deposited By: | Fazli Masari |
| Deposited On: | 21 Apr 2013 03:34 |
| Last Modified: | 04 Feb 2017 08:32 |
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