NDLI: Systematic backstepping design for B-spline trajectory tracking control of the mobile robot in hierarchical model

Content Provider	IEEE Xplore Digital Library
Author	Pu-Sheng Tsai Li-Sheng Wang Fan-Ren Chang Ter-Feng Wu
Copyright Year	2004
Description	Author affiliation: Dept. of Electr. Eng., National Taiwan Univ., Taipei, Taiwan (Pu-Sheng Tsai)
Abstract	The purpose of this paper is to investigate the trajectory tracking problem of the mobile robot. The method integrates a kinematic controller and a torque controller into the dynamic model using backstepping techniques. First, the analytic B-spline function is used to generate a smoothly feasible trajectory between the initial and desired configuration so that the motion path can pass through desired intermediate points and satisfy the kinematic constraints and curvature restrictions. Second, a set of sufficient conditions and a systematic transform procedure are presented for determining if a nonlinear kinematic model can be converted to the integrator chained form which significantly reduced the complexity of designing the privileged velocity. Finally, an adaptive tracking control is developed for the hierarchical model based on backstepping methodology and computed-torque techniques to achieve global asymptotically stable. Simulation results are utilized to illustrate the effectiveness of the proposed control architecture.
Sponsorship	IEEE Systems, Man and Cybernetics Soc
Starting Page	713
Ending Page	718
File Size	452617
Page Count	6
File Format	PDF
ISBN	0780381939
ISSN	18107869
DOI	10.1109/ICNSC.2004.1297034
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-03-21
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Backstepping Spline Trajectory Mobile robots Kinematics Torque control Motion analysis Sufficient conditions Programmable control Adaptive control
Content Type	Text
Resource Type	Article

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