Control of Nonholonomic Wheeled Mobile Robots by State Feedback Linearization

We are concerned in this article with the control of wheeled mobile robots, which constitute a class of nonholonomic mech anical systems. More precisely, we are interested in solving the problem of tracking with stability of a reference trajectory, by means of linearizing "static" and &quo...

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Veröffentlicht in:	The International journal of robotics research 1995-12, Vol.14 (6), p.543-559
Hauptverfasser:	d'Andréa-Novel, B., Campion, G., Bastin, G.
Format:	Artikel
Sprache:	eng
Schlagworte:	Applied sciences Computer science control theory systems Control theory. Systems Exact sciences and technology Robotics
Online-Zugang:	Volltext
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Beschreibung
Zusammenfassung:	We are concerned in this article with the control of wheeled mobile robots, which constitute a class of nonholonomic mech anical systems. More precisely, we are interested in solving the problem of tracking with stability of a reference trajectory, by means of linearizing "static" and "dynamic" state feedback laws. We give conditions to avoid possible singularities of the feedback laws.
ISSN:	0278-3649 1741-3176
DOI:	10.1177/027836499501400602