Trajectory-Tracking Control of Mobile Robot via Feedback Linearization

2017 ◽  
pp. 32-41
Author(s):  
Aleksey A. Kabanov ◽  
Svilen Stoyanov ◽  
Ekaterina N. Kabanova
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Feedback Linearization ◽  
Trajectory Tracking Control

scholarly journals Trajectory Tracking Control of Mobile Robot using Multi-input T-S Fuzzy Feedback Linearization

2011 ◽  
Vol 15 (7) ◽  
pp. 1447-1456
Author(s):  
Keun-Woo Hwang ◽  
Hyeon-Woo Kim ◽  
Seung-Kyu Park ◽  
Gun-Pyong Kwak ◽  
Ho-Kyun Ahn ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Feedback Linearization ◽  
Trajectory Tracking Control

A hierarchical constraint approach for dynamic modeling and trajectory tracking control of a mobile robot

2021 ◽  
pp. 107754632199918
Author(s):  
Rongrong Yu ◽  
Shuhui Ding ◽  
Heqiang Tian ◽  
Ye-Hwa Chen
Keyword(s):  
Mobile Robot ◽  
Dynamic Modeling ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Wheeled Mobile Robot ◽  
Structural Constraints ◽  
Control Force ◽  
Trajectory Tracking Control ◽  
Motion Constraints ◽  
Constraint Approach

The dynamic modeling and trajectory tracking control of a mobile robot is handled by a hierarchical constraint approach in this study. When the wheeled mobile robot with complex generalized coordinates has structural constraints and motion constraints, the number of constraints is large and the properties of them are different. Therefore, it is difficult to get the dynamic model and trajectory tracking control force of the wheeled mobile robot at the same time. To solve the aforementioned problem, a creative hierarchical constraint approach based on the Udwadia–Kalaba theory is proposed. In this approach, constraints are classified into two levels, structural constraints are the first level and motion constraints are the second level. In the second level constraint, arbitrary initial conditions may cause the trajectory to diverge. Thus, we propose the asymptotic convergence criterion to deal with it. Then, the analytical dynamic equation and trajectory tracking control force of the wheeled mobile robot can be obtained simultaneously. To verify the effectiveness and accuracy of this methodology, a numerical simulation of a three-wheeled mobile robot is carried out.

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