On linear and nonlinear tracking of the wheeled mobile robot

This paper presents two different trajectory tracking control strategies for wheeled mobile robot. The first strategy presents a time-varying linear feedback control law and the second strategy is based on state dependent Ricatti equation (SDRE) method. Numerical simulation results indicated that bo...

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Bibliographic Details
Main Authors: Rafikova, E., Kurka, P.R.G., Pereira, F.L., Rafikov, M.
Format: Conference Proceeding
Language:English
Subjects:
Control systems
Equations
Feedback control
Mobile robots
Orbital robotics
Robot control
Service robots
Sliding mode control
Trajectory
Wheels
Online Access:Request full text
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Description
Summary:This paper presents two different trajectory tracking control strategies for wheeled mobile robot. The first strategy presents a time-varying linear feedback control law and the second strategy is based on state dependent Ricatti equation (SDRE) method. Numerical simulation results indicated that both methods can be successfully used for control of the robot system.
ISSN:1085-1992
2576-3210
DOI:10.1109/CCA.2009.5280990