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Unified nonsingular tracking and stabilization controller design for unicycle-type wheeled mobile robots

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A unified, singularity-avoidant controller which enables simultaneous trajectory tracking and posture stabilization of unicycle-type wheeled mobile robots is proposed. The design scheme is based on phase portrait analysis, dynamic feedback linearization and sliding mode control. Path planning via phase portrait analysis plays a key role in choosing the control parameters and the initial value of the extended state in avoiding any singularity. Simulation results on posture stabilization as well as an eight-shaped trajectory tracking are presented to demonstrate the performance of the proposed controller.
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Keywords: NON-HOLONOMIC SYSTEM; STABILIZATION; TRACKING; UNIFIED CONTROL; WHEELED MOBILE ROBOTS

Document Type: Research Article

Affiliations: College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, China

Publication date: 2007-05-01

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