Journal of South China University of Technology (Natural Science Edition) ›› 2006, Vol. 34 ›› Issue (11): 60-63.

• Mechanical Engineering • Previous Articles     Next Articles

Trajectory Tracking Control of Car-Like Mobile Robot Based on Integrated Steering

Zhao Yi-hong  Zhu Jian-ying   

  1. College of Mechanical and Electrical Engineering,Nanjing Univ.of Aeronautics and Astronautics,Nanjing 210016,Jiangsu,China
  • Received:2005-12-13 Online:2006-11-25 Published:2006-11-25
  • Contact: 赵毅红(1968-)，女，博士生，讲师，主要从事机电控制及智能机器人的研究 E-mail:yihongzhao99@sina.com
  • About author:赵毅红(1968-)，女，博士生，讲师，主要从事机电控制及智能机器人的研究
  • Supported by:

    国家自然科学基金资助项目(50275078)

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Abstract:

The problem of trajectory tracking of an uncertain car-like mobile robot with nonholonomic constraints is analyzed,and an adaptive trajectory tracking control method is presented based on the analyses of kinematic mo-dels.In the Droposed control method,a state diferential feedback procedure is used to stabilize the robot and an artificial field combined with the posture error is introduced to navigate the robot.The robustness of the proposed controller is then confirmed by means of Lyapunov stability theory.Simulated results of the robot respectively tIlacking a line and a circle indicate that the proposed method enables the robot to track an ideal trajectory in the navigation.

Key words: car-like mobile robot, trajectory tracking, nonholonomic system, artificial field