Design of Circling Around a Target Controllers for Mobile Robots by Feedback Linearization

Unlike the studies in the literature utilizing pre-generated paths for tracking circular trajectories by mobile robots, in this study the circling around a target problem is considered as a periodic system problem and the states in the system kinematics are forced to converge to periodical trajector...

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Bibliographic Details
Published inIFAC Proceedings Volumes Vol. 43; no. 11; pp. 138 - 143
Main Authors Samiloglu, Andaç T., Gazi, Veysel, Koku, A. Bugra
Format Journal Article
LanguageEnglish
Published 2010
Subjects
Circling Behavior
Feedback Linearization
Kinematics in Polar Coordinates
Mobile Robots
Periodical Control
Kinematics in Polar Coordinates
Circling Behavior
Feedback Linearization
Periodical Control
Mobile Robots
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Summary:Unlike the studies in the literature utilizing pre-generated paths for tracking circular trajectories by mobile robots, in this study the circling around a target problem is considered as a periodic system problem and the states in the system kinematics are forced to converge to periodical trajectories. We propose controllers for the circling around a target behavior of mobile robots developed by static and dynamic feedback linearization techniques. We derive the conditions on the underdamped and overdamped stable responses of the systems and present corresponding simulation results for each case.
ISSN:1474-6670
DOI:10.3182/20100826-3-TR-4016.00028