Motion Tracking Control Design for a Class of Nonholonomic Mobile Robot Systems

作者：Fu, Jun^*; Tian, Fangyin; Chai, Tianyou; Jing, Yuanwei; Li, Zhijun; Su, Chun-Yi

来源：IEEE Transactions on Systems Man Cybernetics-Systems, 2020, 50(6): 2150-2156.

DOI：10.1109/TSMC.2018.2804948

• Mobile robots
• Actuators
• Kinematics
• Backstepping
• Tracking
• Vehicle dynamics
• Actuator dynamics
• backstepping
• cascaded systems
• motion control
• nonholonomic mobile robot

Motion tracking control design of nonholonomic mobile robot systems considering actuator dynamics is addressed in this paper. A trajectory tracking controller is designed at actuator level, which guarantees that the nonholonomic mobile robot tracks a given trajectory. A numerical example is shown to demonstrate and validate the proposed approach in this paper.

• 单位
  东北大学; 1