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

Authors: Zhu, Xiaocai¹; Dong, Guohua¹; Hu, Dewen¹

Source: Advanced Robotics, Volume 21, Numbers 5-6, 2007 , pp. 711-728(18)

Publisher: VSP, an imprint of Brill

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Abstract:

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.

Keywords: NON-HOLONOMIC SYSTEM; WHEELED MOBILE ROBOTS; STABILIZATION; TRACKING; UNIFIED CONTROL

Document Type: Research article

DOI: 10.1163/156855307780108196

Affiliations: 1: College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, China

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