Paper Info
Title
Lyapunov-based environmental boundary tracking control of mobile robots
Abstract
This paper considers the environmental boundary tracking problem where the objective is to steer a mobile robot to track the desired environmental boundary. Based on the kinematic model of the mobile robot, we design a kinematic control law for the robot to track the desired boundary. Kinematic control law needs perfect velocity tracking, which doesn't always hold for a mobile robot. So, dynamic control law is designed for the nonholonomic mobile robot to track a designated reference velocity, so as to track the desired environmental boundary. The stability of the designed control laws is verified by Lyapunov theory and Barbalat's Lemma and illustrated by simulation results.
Year
DOI
Venue
2012
10.1109/ICNSC.2012.6204941
ICNSC
Keywords
Field
DocType
robot dynamics,barbalat lemma,robot kinematics,dynamic control law design,nonholonomic mobile robot steering,mobile robots,lyapunov-based environmental boundary tracking control,reference velocity tracking,kinematic control law design,lyapunov methods,mobile robot kinematic model,symmetric matrices,mobile robot,kinematics,vectors
Lyapunov function,Kinematics,Robot calibration,Control theory,Computer science,Robot kinematics,Symmetric matrix,Control engineering,Robot,Mobile robot,Lemma (mathematics)
Conference
ISBN
Citations 
PageRank 
978-1-4673-0388-0
0
0.34
References 
Authors
6
3
Name
Order
Citations
PageRank
Tairen Sun11359.17
Caihong Zhang2533.32
Hai-Long Pei3527.34