Hybrid Control Design for a Wheeled Mobile Robot

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearch

11 Citations (Scopus)

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 languageEnglish
Title of host publicationHybrid Systems: Computation and Control, HSCC 2003 : Lecture Notes in Computer Science
EditorsOded Maler, Amir Pnueli (eds.)
PublisherSpringer
Publication date2003
Edition2623
Pages50-65
Publication statusPublished - 2003
EventHybrid Control Design for a Wheeled Mobile Robot -
Duration: 19 May 2010 → …

Conference

ConferenceHybrid Control Design for a Wheeled Mobile Robot
Period19/05/2010 → …

Fingerprint

Mobile robots
Wheels
Trajectories
Feedback linearization
Hybrid systems
Feedback control
Dynamical systems
Robots

Cite this

Bak, T., Bendtsen, J. D., & Ravn, A. P. (2003). Hybrid Control Design for a Wheeled Mobile Robot. In Oded Maler, Amir Pnueli (eds.) (Ed.), Hybrid Systems: Computation and Control, HSCC 2003: Lecture Notes in Computer Science (2623 ed., pp. 50-65). Springer.
Bak, Thomas ; Bendtsen, Jan Dimon ; Ravn, Anders Peter. / Hybrid Control Design for a Wheeled Mobile Robot. Hybrid Systems: Computation and Control, HSCC 2003: Lecture Notes in Computer Science. editor / Oded Maler, Amir Pnueli (eds.). 2623. ed. Springer, 2003. pp. 50-65
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Bak, T, Bendtsen, JD & Ravn, AP 2003, Hybrid Control Design for a Wheeled Mobile Robot. in Oded Maler, Amir Pnueli (eds.) (ed.), Hybrid Systems: Computation and Control, HSCC 2003: Lecture Notes in Computer Science. 2623 edn, Springer, pp. 50-65, Hybrid Control Design for a Wheeled Mobile Robot, 19/05/2010.

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

Hybrid Systems: Computation and Control, HSCC 2003: Lecture Notes in Computer Science. ed. / Oded Maler, Amir Pnueli (eds.). 2623. ed. Springer, 2003. p. 50-65.

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearch

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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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Bak T, Bendtsen JD, Ravn AP. Hybrid Control Design for a Wheeled Mobile Robot. In Oded Maler, Amir Pnueli (eds.), editor, Hybrid Systems: Computation and Control, HSCC 2003: Lecture Notes in Computer Science. 2623 ed. Springer. 2003. p. 50-65