NDLI: Tracking Control of Differential-Drive Wheeled Mobile Robots Using a Backstepping-Like Feedback Linearization

Content Provider	IEEE Xplore Digital Library
Author	Dongkyoung Chwa
Copyright Year	1996
Abstract	This paper proposes a tracking control method for differential-drive wheeled mobile robots with nonholonomic constraints by using a backstepping-like feedback linearization. Unlike previous backstepping controllers for wheeled mobile robots, a backstepping-like feedback control structure is proposed in the form of a cascaded kinematic and dynamic linearization to have a simpler and modular control structure. First, the pseudo commands for the forward linear velocity and the heading direction angle are designed based on kinematics. Then, the actual torque control inputs are designed to make the actual forward linear velocity and heading direction angle follow their corresponding pseudo commands. A stability analysis shows that the tracking errors of the posture (the position and heading direction angle) are globally ultimately bounded and its ultimate bound can be adjusted by the proper choice of control parameters. In addition, numerical simulations for various reference trajectories (e.g., a straight line, a circle, a sinusoidal curve, a spinning trajectory with no forward velocity and a nonzero rotational velocity, a cross-shaped trajectory changing the forward and backward directions, etc.) show the validity of the proposed scheme.
Sponsorship	IEEE Systems, Man, and Cybernetics Society
Starting Page	1285
Ending Page	1295
Page Count	11
File Size	335995
File Format	PDF
ISSN	10834427
Volume Number	40
Issue Number	6
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-11-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Linear feedback control systems Mobile robots Kinematics Backstepping Feedback control Torque control Stability analysis Error correction Numerical simulation Spinning wheeled mobile robots Backstepping-like feedback linearization nonholonomic constraints tracking control
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Information Systems Electrical and Electronic Engineering Human-Computer Interaction Computer Science Applications Software

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