Path tracking and a practical point stabilization of mobile robot

Shuli Sun; Pingyuan Cui

doi:10.1016/S0736-5845(03)00052-8

Path tracking and a practical point stabilization of mobile robot

Shuli Sun^*, Pingyuan Cui

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

24 Citations (Scopus)

Abstract

Based on differential geometry theory, applying the dynamic extension approach of relative degree, the path tracking controller of mobile robot is designed by the input/output feedback linearization. And on the foundation, the exact feedback linearization on the kinematic model of mobile robot is realized. Its proof is different from and simpler than the literature (Robotics Comput Integ Manuf 16 (2000) 353). A practical point stabilization controller is proposed, and a fault in the literature (Robotics Comput Integ Manuf 16 (2000) 353) is indicated. Hence, the path tracking and point stabilization problems are solved in a unified approach. The designed controllers have the local asymptotic stability. Simulation results show their effectiveness.

Original language	English
Pages (from-to)	29-34
Number of pages	6
Journal	Robotics and Computer-Integrated Manufacturing
Volume	20
Issue number	1
DOIs	https://doi.org/10.1016/S0736-5845(03)00052-8
Publication status	Published - Feb 2004
Externally published	Yes

Keywords

Dynamic extension approach
Exact feedback linearization
Local asymptotic stability
Path tracking
Point stabilization

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10.1016/S0736-5845(03)00052-8

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abstract = "Based on differential geometry theory, applying the dynamic extension approach of relative degree, the path tracking controller of mobile robot is designed by the input/output feedback linearization. And on the foundation, the exact feedback linearization on the kinematic model of mobile robot is realized. Its proof is different from and simpler than the literature (Robotics Comput Integ Manuf 16 (2000) 353). A practical point stabilization controller is proposed, and a fault in the literature (Robotics Comput Integ Manuf 16 (2000) 353) is indicated. Hence, the path tracking and point stabilization problems are solved in a unified approach. The designed controllers have the local asymptotic stability. Simulation results show their effectiveness.",

keywords = "Dynamic extension approach, Exact feedback linearization, Local asymptotic stability, Path tracking, Point stabilization",

author = "Shuli Sun and Pingyuan Cui",

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AU - Sun, Shuli

AU - Cui, Pingyuan

PY - 2004/2

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N2 - Based on differential geometry theory, applying the dynamic extension approach of relative degree, the path tracking controller of mobile robot is designed by the input/output feedback linearization. And on the foundation, the exact feedback linearization on the kinematic model of mobile robot is realized. Its proof is different from and simpler than the literature (Robotics Comput Integ Manuf 16 (2000) 353). A practical point stabilization controller is proposed, and a fault in the literature (Robotics Comput Integ Manuf 16 (2000) 353) is indicated. Hence, the path tracking and point stabilization problems are solved in a unified approach. The designed controllers have the local asymptotic stability. Simulation results show their effectiveness.

AB - Based on differential geometry theory, applying the dynamic extension approach of relative degree, the path tracking controller of mobile robot is designed by the input/output feedback linearization. And on the foundation, the exact feedback linearization on the kinematic model of mobile robot is realized. Its proof is different from and simpler than the literature (Robotics Comput Integ Manuf 16 (2000) 353). A practical point stabilization controller is proposed, and a fault in the literature (Robotics Comput Integ Manuf 16 (2000) 353) is indicated. Hence, the path tracking and point stabilization problems are solved in a unified approach. The designed controllers have the local asymptotic stability. Simulation results show their effectiveness.

KW - Dynamic extension approach

KW - Exact feedback linearization

KW - Local asymptotic stability

KW - Path tracking

KW - Point stabilization

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EP - 34

JO - Robotics and Computer-Integrated Manufacturing

JF - Robotics and Computer-Integrated Manufacturing

IS - 1

ER -

Path tracking and a practical point stabilization of mobile robot

Abstract

Keywords

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