Abstract
We present a hybrid systems solution to the problem of trajectory tracking
for a four-wheel steered four-wheel driven mobile robot. The robot is modelled
as a non-holonomic dynamic system subject to pure rolling, no-slip constraints.
Under normal driving conditions, a nonlinear trajectory tracking feedback
control law based on dynamic feedback linearization is sufficient to stabilize
the system and ensure asymptotically stable tracking. Transitions to other modes
are derived systematically from this model, whenever the configuration space of
the controlled system has some fundamental singular points. The stability of the
hybrid control scheme is finally analyzed using Lyapunov-like
arguments.
| Original language | English |
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| Title of host publication | Hybrid Systems: Computation and Control, HSCC 2003 : Lecture Notes in Computer Science |
| Editors | Oded Maler, Amir Pnueli (eds.) |
| Publisher | Springer |
| Publication date | 2003 |
| Edition | 2623 |
| Pages | 50-65 |
| Publication status | Published - 2003 |
| Event | Hybrid Control Design for a Wheeled Mobile Robot - Duration: 19 May 2010 → … |
Conference
| Conference | Hybrid Control Design for a Wheeled Mobile Robot |
|---|---|
| Period | 19/05/2010 → … |