A Parametric Approach to Wheeled Mobile Robot Tracking Control
Yaping Jiang · Journal of Northeast Dianli University · 2009
According to the analysis of wheeled mobile robot dynamics,the mathematic description of the trajectory tracking control problem is formulated based on the state space representation of trajectory tracking control systems.A parametric approach is proposed for the wheeled mobile robot trajectory tracking problem by using the eigenstructure assignment theory and the model reference theory of linear systems.A feedback stabilizing controller and a feed-forward tracking controller are built.The designed controllers are applied to the wheeled mobile robot control system,and simulation results show the effect of the proposed method.