Volume 1, Issue 1, June 2014, Pages 12 - 16
Variable-poled Tracking Control of a Two-wheeled Mobile Robot Using Differential Flatness
Liming Chen, Yingmin Jia
Available Online 30 June 2014.
- 10.2991/jrnal.2014.1.1.3How to use a DOI?
- mobile robot, nonlinear control, trajectory tracking, differential flatness
This paper investigates the tracking control of a two-wheeled mobile robot in both kinematic and dynamic models. Differential flatness and PD-spectral theory are used for controller design. Based on differential flatness, the original system is transformed via a state prolongation and a state transformation into a normal form to apply feedback linearization. Then using PD-spectral theory, variable poles of tracking error dynamics are assigned to realize the stability of trajectory tracking. Simulation results are presented to demonstrate the effectiveness of the proposed method.
- © 2013, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - JOUR AU - Liming Chen AU - Yingmin Jia PY - 2014 DA - 2014/06/30 TI - Variable-poled Tracking Control of a Two-wheeled Mobile Robot Using Differential Flatness JO - Journal of Robotics, Networking and Artificial Life SP - 12 EP - 16 VL - 1 IS - 1 SN - 2352-6386 UR - https://doi.org/10.2991/jrnal.2014.1.1.3 DO - 10.2991/jrnal.2014.1.1.3 ID - Chen2014 ER -