18424

Автор(ы): 

Автор(ов): 

1

Параметры публикации

Тип публикации: 

Доклад

Название: 

Stabilizing Control for a Wheeled Robot Following a Curvilinear Path

Наименование конференции: 

  • 10th IFAC Symposium on Robot Control (SYROCO-2012, Dubrovnik, Croatia)

Наименование источника: 

  • Proceedings of the 10th IFAC Symposium on Robot Control (SYROCO-2012, Dubrovnik, Croatia)

Город: 

  • Dubrovnik

Издательство: 

  • IFAC Publication

Год издания: 

2012

Страницы: 

1-6
Аннотация
The problem of finding a stabilizing control for a wheeled robot with constrained control resource following a curvilinear path is studied. The goal of the control is to bring the robot to an assigned path and to stabilize its motion along it. A new change of variable is suggested that reduces the problem of stabilizing robot's motion to that of stabilizing the zero solution in the form that admits feedback linearization. A control law stabilizing robot's motion along an arbitrary feasible curvilinear target path is synthesized. The new control is shown to be more efficient than the well-known linearizing feedback obtained from the celebrated chained-form representation of the system equations. For a straight target path, the closed-loop system is shown to be asymptotically stable for any initial conditions except for the case where the initial direction of motion is perpendicular to the target path.

Библиографическая ссылка: 

Пестерев А.В. Stabilizing Control for a Wheeled Robot Following a Curvilinear Path / Proceedings of the 10th IFAC Symposium on Robot Control (SYROCO-2012, Dubrovnik, Croatia). Dubrovnik: IFAC Publication, 2012. С. 1-6.