Path tracking of differential drive mobile robot using two step feedback linearization based on backstepping

被引：0

作者：

Yallala, Mahesh ^{[1
]}

Mija, S. J. ^{[1
]}

机构：

[1] NIT Calicut, Dept Elect Engn, Kozhikode, Kerala, India

来源：

2017 INTERNATIONAL CONFERENCE ON INNOVATIONS IN CONTROL, COMMUNICATION AND INFORMATION SYSTEMS (ICICCI-2017) | 2017年

关键词：

Two Step Feedback linearization; Non holonomic constraints; Backstepping; DESIGN;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This Paper discusses Back-stepping based control strategy for path tracking of differential-drive mobile robot with nonholonomic constraints. In this Two step Feedback linearization control strategy is used to linearize kinematics and dynamics of the system. The Desired commands for linear velocity and heading angle direction are developed and by controlling the torque inputs, Mobile robot is made to track the path. Stability analysis based on Lyapunov function is made to bound the errors in position and heading angle. Simulation studies are performed with various reference trajectories to illustrate the effectiveness of developed controllers.

引用

页码：440 / 444

页数：5

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