0BDiscrete-Time Modeling and Path-Tracking for a Wheeled Mobile Robot
M. Velasco‐Villa, Eduardo Aranda Bricaire, Rodolfo Orosco Guerrero · 2011
THE EXACT DISCRETE-TIME MODEL OF A TWO WHEEL DIFFERENTIALLY DRIVEN MOBILE ROBOT IS OBTAINED BY DIRECT INTEGRATION OF ITS CONTINUOUS-TIME KINEMATIC MODEL. THE DISCRETE-TIME MODEL OBTAINED IS USED TO DESIGN TWO DISCRETE-TIME LINEARIZING CONTROL LAWS WITH DIFFERENT SINGULAR MANIFOLDS. THESE CONTROL LAWS ARE USED TO PROPOSE A COMMUTATION CONTROL SCHEME THAT SOLVES THE PATH-TRACKING PROBLEM AND GUARANTEES INTERNAL STABILITY OF THE CLOSED LOOP SYSTEM. THE PERFORMANCE OF THE CONTROL SCHEME IS EVALUATED BY THE REAL TIME IMPLEMENTATION OF THE PROPOSED CONTROL STRATEGY OVER A LABORATORY PROTOTYPE.