Abstract
This paper considers the trajectory tracking problem for a four-wheel driven, four-wheel steered mobile robot moving in outdoor terrain. The robot is modeled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. A nonlinear trajectory tracking feedback control law based on dynamic feedback linearization is designed for this model. Since several parameters in the model, in particular the ground-wheel contact friction, are not well known a priori, a robustness analysis is carried out for bounded uncertainties. It is demonstrated that uncertainties can render the closed-loop system unstable, and two approaches to avoid this are suggested
Original language | Danish |
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Title of host publication | Ikke angivet : 6th International Symposium on Advanced Vehicle Control (AVEC '02), |
Publisher | September 2002 |
Publication date | 2002 |
Publication status | Published - 2002 |
Event | Robust Feedback Linearization-based Control Design for a Wheeled Mobile Robot - Duration: 19 May 2010 → … |
Conference
Conference | Robust Feedback Linearization-based Control Design for a Wheeled Mobile Robot |
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Period | 19/05/2010 → … |