Paper Info
Title
Motion Control of Swedish Wheeled Mobile Robots in the Presence of Actuator Saturation
Abstract
Swedish wheeled mobile robots have remarkable mobility properties allowing them to rotate and translate at the same time. Being holonomic systems, their kinematics model results in the possibility of designing separate and independent position and heading trajectory tracking control laws. Nevertheless, if these control laws should be implemented in the presence of unaccounted actuator saturation, the resulting saturated linear and angular velocity commands could interfere with each other thus dramatically affecting the overall expected performance. Based on Lyapunov's direct method, a position and heading trajectory tracking control law for Swedish wheeled robots is developed. It explicitly accounts for actuator saturation by using ideas from a prioritized task based control framework.
Year
DOI
Venue
2006
10.1007/978-3-540-74024-7_4
RoboCup 2009
Keywords
Field
DocType
actuator saturation,angular velocity command,control framework,control law,motion control,swedish wheeled mobile robots,direct method,trajectory tracking control law,holonomic system,independent position,kinematics model result,unaccounted actuator saturation
Lyapunov function,Motion control,Angular velocity,Holonomic,Kinematics,Computer science,Simulation,Robot,Mobile robot,Trajectory
Conference
Volume
ISSN
Citations 
4434
0302-9743
9
PageRank 
References 
Authors
0.79
11
3
Name
Order
Citations
PageRank
Giovanni Indiveri111215.67
Jan Paulus290.79
Paul G. Plöger3252.66