Tinh, N.V. and Linh, N.T. and Cat, P.T. and Tuan, P.M. and Anh, M.N. and Anh, N.P.T. (2016) Modeling and feedback linearization control of a nonholonomic wheeled mobile robot with longitudinal, lateral slips. In: 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016, 21 August 2016 through 24 August 2016.
Modeling and feedback linearization control of a nonholonomic wheeled mobile robot with longitudinal, lateral slips.pdf
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Abstract
This paper presents a systematic method to build the kinematic model and dynamic model of a nonholonomic wheeled mobile robot (WMR) with longitudinal and lateral slip, followed by the design of a control law using the input-output feedback linearization method to drive the mobile robot to track a given trajectory while longitudinal, and lateral slip exist. The asymptotical stability of the system is verified by solving second-order differential linear equations to find solutions for history time. Matlab-Simulink simulation results show the correctness and performances of the control law. © 2016 IEEE.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Divisions: | Faculties > Faculty of Control Engineering |
| Identification Number: | 10.1109/COASE.2016.7743512 |
| Uncontrolled Keywords: | Control theory; Feedback; Kinematics; Linearization; Longitudinal control; Machine design; MATLAB; Mobile robots; Robots; System stability; Asymptotical stability; Feedback linearization control; Input-output feedback linearization; Kinematic model; Matlab / simulink simulations; Nonholonomic wheeled mobile robots; Second orders; Systematic method; Feedback linearization |
| Additional Information: | Conference code: 124862. Language of original document: English. |
| URI: | http://eprints.lqdtu.edu.vn/id/eprint/9791 |
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