Trajectory tracking controller for differential-drive mobile robots

Julio C. Montesdeoca, Milton C.P. Santos, Matias Monllor, Daniel Herrera

Resultado de la investigación: Contribución a una conferenciaDocumento

2 Citas (Scopus)

Resumen

© 2017 Comisión Permanente RPIC. This paper describes a time-invariant controller for trajectory tracking applied to the differential-drive mobile robot (DDMR), where the interest point position is located in an arbitrary position, the extended kinematic model of DDMR is used to propose a inverse kinematic controller; where, the extended kinematic model proposes a holonomic-like model for non-holonomic system, allowing this way, the use of inverse kinematic as control strategy. The system stability is proved by according to the Lyapunov theory, concluding that the system is asymptotically stable. Simulations show a good controller performance for different trajectories proposed.
Idioma originalInglés
Páginas1-4
Número de páginas4
DOI
EstadoPublicada - 14 dic. 2017
Evento2017 17th Workshop on Information Processing and Control, RPIC 2017 - Mar de Plata, Argentina
Duración: 20 sep. 201722 sep. 2017

Conferencia

Conferencia2017 17th Workshop on Information Processing and Control, RPIC 2017
Título abreviadoRPIC 2017
País/TerritorioArgentina
CiudadMar de Plata
Período20/09/1722/09/17

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