NDLI: Motion control for a wheeled robot following a curvilinear path

Content Provider	Springer Nature Link
Author	Gilimyav, R. F. Pesterev, A. V. Rapoport, L. B.
Copyright Year	2008
Abstract	A control synthesis problem for planar motion of a wheeled robot with regard to the steering gear dynamics is considered. The control goal is to bring the robot to a given curvilinear path and to stabilize its motion along the path. The trajectory is assumed to be an arbitrary parameterized smooth curve satisfying some additional curvature constraints. A change of variables is found by means of which the system of differential equations governing controlled motion of the robot reduces to the form that admits feedback linearization. A control law is synthesized for an arbitrary target path with regard to phase and control constraints. The form of the boundary manifold and the phase portrait of the system for the case of the straight target trajectory are studied. Results of numerical experiments are presented.
Starting Page	987
Ending Page	994
Page Count	8
File Format	PDF
ISSN	10642307
Journal	Journal of Computer and Systems Sciences International
Volume Number	47
Issue Number	6
e-ISSN	15556530
Language	English
Publisher	SP MAIK Nauka/Interperiodica
Publisher Date	2008-12-15
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Control Robotics Mechatronics
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Theoretical Computer Science Computer Networks and Communications Control and Systems Engineering Information Systems Computer Vision and Pattern Recognition Software

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