Path tracking control of trailer-like mobile robot

9 December 2002

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

p. 193-198
https://doi.org/10.1109/iros.1991.174448

Abstract

The authors design a path tracking controller for a trailer-like mobile robot which has the following properties: (1) the stability of the control can be evaluated analytically; (2) the trailer-like mobile robot tracks the desired path even when it moves backward; and (3) the control varies according to the environment and/or the velocity of the robot without violating the stability of the control.<>

Keywords

MOBILE ROBOTS
VELOCITY CONTROL
ROBOT KINEMATICS
STABILITY ANALYSIS
WHEELS
CONTROL SYSTEMS
EQUATIONS
DESIGN ENGINEERING
SERVOMECHANISMS
LINEAR SYSTEMS

This publication has 3 references indexed in Scilit:

Robot control in the neighborhood of singular points
IEEE Journal on Robotics and Automation, 1988
On time scaling for nonlinear systems: Application to linearization
IEEE Transactions on Automatic Control, 1986
On the linear equivalents of nonlinear systems
Systems & Control Letters, 1982