Variable-poled tracking control of a two-wheeled mobile robot using differential flatness

被引：0
|
作者：
Chen, Liming [1 ]
Jia, Yingmin
机构：
[1] Beihang Univ BUAA, Res Div 7, Beijing 100191, Peoples R China
来源：
PROCEEDINGS OF INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS (ICAROB 2014) | 2014年
关键词：
mobile robot; nonlinear control; differential flatness;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper investigates the tracking controller design of a two-wheeled mobile robot in its kinematic model and dynamic model. Differential flatness and linear time-varying(LTV) systems' PD-spectral theory are used. Based on differential flatness, original system is transformed via a state prolongation and state transformation into a normal form to apply feedback linearization. Then using PD-spectral theory, variable poles of tracking error dynamics are assigned to realize trajectory tracking stability. Finally, simulation results are presented to demonstrate the feasibility and effectiveness of the proposed method.
引用
收藏
页码：174 / 177
页数：4
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