Variable-poled Tracking Control of a Two-wheeled Mobile Robot Using Differential Flatness

DOI

10.2991/jrnal.2014.1.1.3How to use a DOI?

Keywords

mobile robot, nonlinear control, trajectory tracking, differential flatness

Abstract

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.

Copyright

© 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/).

Download article (PDF)

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  -