A. Andreev, O. Peregudova, Katherine Sutyrkina, Elena Filatkina
{"title":"On Global Output Feedback Trajectory Tracking Control of a Wheeled Mobile Robot","authors":"A. Andreev, O. Peregudova, Katherine Sutyrkina, Elena Filatkina","doi":"10.1109/ICMECT.2019.8932122","DOIUrl":null,"url":null,"abstract":"In the paper, the global trajectory tracking control problem of a wheeled mobile robot is considered. Dynamical model of the robot consists of a platform, castor wheel and two rear wheels. The motion control of the robot is carried out by supplying voltage to DC motors which are installed in the axles of the rear wheels. An output feedback controller has been constructed using a backstepping design procedure and Lyapunov approach.","PeriodicalId":309525,"journal":{"name":"2019 23rd International Conference on Mechatronics Technology (ICMT)","volume":"55 1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 23rd International Conference on Mechatronics Technology (ICMT)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMECT.2019.8932122","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
In the paper, the global trajectory tracking control problem of a wheeled mobile robot is considered. Dynamical model of the robot consists of a platform, castor wheel and two rear wheels. The motion control of the robot is carried out by supplying voltage to DC motors which are installed in the axles of the rear wheels. An output feedback controller has been constructed using a backstepping design procedure and Lyapunov approach.
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