Hybrid Control Design for a Wheeled Mobile Robot

Thomas Bak, Jan Dimon Bendtsen, Anders Peter Ravn

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Resumé

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.
OriginalsprogEngelsk
BogserieLecture Notes in Computer Science
Vol/bind2623
Sider (fra-til)50-65
ISSN0302-9743
StatusUdgivet - 2003

Citer dette

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Hybrid Control Design for a Wheeled Mobile Robot. / Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter.

I: Lecture Notes in Computer Science, Bind 2623, 2003, s. 50-65.

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

TY - JOUR

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AU - Bendtsen, Jan Dimon

AU - Ravn, Anders Peter

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N2 - 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.

AB - 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.

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JO - Lecture Notes in Computer Science

JF - Lecture Notes in Computer Science

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