| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 10327137 | Robotics and Computer-Integrated Manufacturing | 2005 | 5 Pages |
Abstract
Based on differential geometry theory, applying the dynamic extension approach of relative degree, the exact feedback linearization on the kinematic error model of mobile robot is realized. The trajectory-tracking controllers are designed by pole-assignment approach. When angle speed of mobile robot is permanently nonzero, the local asymptotically stable controller is designed. When angle speed of mobile robot is not permanently nonzero, the trajectory-tracking control strategy with globally tracking bound is given. The algorithm is simple and applied easily. Simulation results show their effectiveness.
Keywords
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Physical Sciences and Engineering
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Artificial Intelligence
Authors
Shuli Sun,