State Feedback Control to Track a Moving Object for a Non-holonomic Mobile Robot

被引：1
|
作者：
Hui, Yancui [1 ]
Peng, Yiqiang [1 ]
Ye, Xian [1 ]
机构：
[1] Xihua Univ, Sch Transportat & Automot Engn, Chengdu 610039, Sichuan, Peoples R China
来源：
FRONTIERS OF MANUFACTURING AND DESIGN SCIENCE, PTS 1-4 | 2011年 / 44-47卷
关键词：
Non-holonomic Mobile Robot; State Feedback Control; Velocity Profile;
D O I：
10.4028/www.scientific.net/AMM.44-47.646
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In this paper, a state feedback control algorithm for non-holonomic robot to track a moving object is described. In order to generate continuous velocity profile, some independent time varying functions are introduced for calculation the state feedback variables. The simulation of the control algorithm is implemented with MATLAB. The results shows that, with the designed state feedback control algorithm, the wheeled mobile robot can track a moving object and the trajectory is also reasonable.
引用
收藏
页码：646 / 650
页数：5
相关论文
共 50 条
  • [31] Control based on perspective lines of a non-holonomic mobile robot with camera-on-board
    Carelli, R
    Kelly, R
    Nasisi, OH
    Soria, C
    Mut, V
    INTERNATIONAL JOURNAL OF CONTROL, 2006, 79 (04) : 362 - 371
  • [32] Adaptive tracking control of non-holonomic wheeled mobile robot including actuator dynamics
    Yue, Li-Yong
    Xie, Wei
    Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2008, 25 (06): : 1001 - 1006
  • [33] Motion modeling of a non-holonomic wheeled mobile robot based on trajectory tracking control
    Han, Xuefeng
    Ge, Mingda
    Cui, Jicheng
    Wang, Hao
    Zhuang, Wei
    TRANSACTIONS OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING, 2020, 44 (02) : 228 - 233
  • [34] Visual based lane following for non-holonomic mobile robot
    Rezoug, Amar
    Djouadi, Mohand Said
    INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL, 2008, 3 : 475 - 479
  • [35] Output Feedback Stabilization of Stochastic Non-holonomic Mobile Robots
    Feng, Wenli
    Wei, Hongyu
    Zhang, Hongmei
    Zhang, Dongkai
    PROCEEDINGS OF 2016 CHINESE INTELLIGENT SYSTEMS CONFERENCE, VOL II, 2016, 405 : 121 - 131
  • [36] Adaptive tracking control of high-order non-holonomic mobile robot systems
    Huang, J. -T.
    IET CONTROL THEORY AND APPLICATIONS, 2009, 3 (06): : 681 - 690
  • [37] An affine nonlinear control approach to mobile robot with non-holonomic orthogonal-wheels
    Liu, KZ
    Zhao, P
    Sun, MX
    Dong, ZL
    PROCEEDINGS OF THE 4TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-4, 2002, : 1457 - 1461
  • [38] Dynamic feedback tracking control of non-holonomic mobile robots with unknown camera parameters
    Wang, Chaoli
    Mei, Yingchun
    Liang, Zhenying
    Jia, Qingwei
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2010, 32 (02) : 155 - 169
  • [39] Centralized formation control of non-holonomic mobile robots
    Carelli, R
    de la Cruz, C
    Roberti, F
    LATIN AMERICAN APPLIED RESEARCH, 2006, 36 (02) : 63 - 69
  • [40] Non-holonomic control II : Non-holonomic quantum devices
    Brion, E
    Akulim, VM
    Comparat, D
    Dumer, I
    Gershkovich, V
    Harel, G
    Kurizki, G
    Mazets, I
    Pillet, P
    Quantum Informatics 2004, 2004, 5833 : 70 - 79
12345