Control of a nonholonomic mobile robot: backstepping kinematics into dynamics

A dynamical extension that makes possible the integration of a kinematic controller and a torque controller for nonholonomic mobile robots is presented. A combined kinematic/torque control law is developed using backstepping and asymptotic stability is guaranteed by Lyapunov theory. Moreover, this c...

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Bibliographic Details
Published inProceedings of 1995 34th IEEE Conference on Decision and Control Vol. 4; pp. 3805 - 3810 vol.4
Main Authors Fierro, R., Lewis, F.L.
Format Conference Proceeding
LanguageEnglish
Published IEEE Control Systems Society 1995
Subjects
Adaptive control
Asymptotic stability
Backstepping
Kinematics
Mobile robots
Motion planning
Programmable control
Robot control
Torque control
Trajectory
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Summary:A dynamical extension that makes possible the integration of a kinematic controller and a torque controller for nonholonomic mobile robots is presented. A combined kinematic/torque control law is developed using backstepping and asymptotic stability is guaranteed by Lyapunov theory. Moreover, this control algorithm can be applied to the three basic nonholonomic navigation problems: tracking a reference trajectory, path following and stabilization about a desired posture. A general structure for controlling a mobile robot results that can accommodate different control techniques ranging from a conventional computed-torque controller, when all dynamics are known, to adaptive controllers.
ISBN:0780326857
9780780326859
ISSN:0191-2216
DOI:10.1109/CDC.1995.479190