Trajectory tracking of steering system mobile robot

In this paper, the kinematic model of nonholonomic differential wheeled mobile robot steering system is established. Based on the model, a nonlinear feedback path tracking controller is proposed, which causes the closed loop system state equation for the robot to have equilibrium condition at the or...

Full description

Saved in:

Bibliographic Details
Main Authors:	Mohd. Amin, Shamsudin, Abdul Rashid, Husain, Sanhoury, I. M. H.
Format:	Book Section
Published:	IEEE 2011
Subjects:	QA75 Electronic computers. Computer science T Technology (General)
Online Access:	http://eprints.utm.my/id/eprint/30196/ http://dx.doi.org/10.1109/ICOM.2011.5937124
Tags:	Add Tag No Tags, Be the first to tag this record!
Institution:	Universiti Teknologi Malaysia

id	my.utm.30196
record_format	eprints
spelling	my.utm.301962017-02-04T08:32:47Z http://eprints.utm.my/id/eprint/30196/ Trajectory tracking of steering system mobile robot Mohd. Amin, Shamsudin Abdul Rashid, Husain Sanhoury, I. M. H. QA75 Electronic computers. Computer science T Technology (General) In this paper, the kinematic model of nonholonomic differential wheeled mobile robot steering system is established. Based on the model, a nonlinear feedback path tracking controller is proposed, which causes the closed loop system state equation for the robot to have equilibrium condition at the origin. Lyapunov candidate function is used to prove that the closed loop system is asymptotically stable at origin. Simulation results verify the usefulness of the tracking control approach. IEEE 2011 Book Section PeerReviewed Mohd. Amin, Shamsudin and Abdul Rashid, Husain and Sanhoury, I. M. H. (2011) Trajectory tracking of steering system mobile robot. In: 2011 4th International Conference on Mechatronics: Integrated Engineering for Industrial and Societal Development, ICOM'11 - Conference Proceedings. IEEE, Kuala Lumpur, pp. 1-5. ISBN 978-161284435-0 http://dx.doi.org/10.1109/ICOM.2011.5937124 10.1109/ICOM.2011.5937124
institution	Universiti Teknologi Malaysia
building	UTM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Teknologi Malaysia
content_source	UTM Institutional Repository
url_provider	http://eprints.utm.my/
topic	QA75 Electronic computers. Computer science T Technology (General)
spellingShingle	QA75 Electronic computers. Computer science T Technology (General) Mohd. Amin, Shamsudin Abdul Rashid, Husain Sanhoury, I. M. H. Trajectory tracking of steering system mobile robot
description	In this paper, the kinematic model of nonholonomic differential wheeled mobile robot steering system is established. Based on the model, a nonlinear feedback path tracking controller is proposed, which causes the closed loop system state equation for the robot to have equilibrium condition at the origin. Lyapunov candidate function is used to prove that the closed loop system is asymptotically stable at origin. Simulation results verify the usefulness of the tracking control approach.
format	Book Section
author	Mohd. Amin, Shamsudin Abdul Rashid, Husain Sanhoury, I. M. H.
author_facet	Mohd. Amin, Shamsudin Abdul Rashid, Husain Sanhoury, I. M. H.
author_sort	Mohd. Amin, Shamsudin
title	Trajectory tracking of steering system mobile robot
title_short	Trajectory tracking of steering system mobile robot
title_full	Trajectory tracking of steering system mobile robot
title_fullStr	Trajectory tracking of steering system mobile robot
title_full_unstemmed	Trajectory tracking of steering system mobile robot
title_sort	trajectory tracking of steering system mobile robot
publisher	IEEE
publishDate	2011
url	http://eprints.utm.my/id/eprint/30196/ http://dx.doi.org/10.1109/ICOM.2011.5937124
_version_	1643648483909959680

Trajectory tracking of steering system mobile robot

Similar Items