Authors
Liming Chen, Yingmin Jia
Corresponding Author
Liming Chen
Available Online 30 June 2014.
DOI
https://doi.org/10.2991/jrnal.2014.1.1.3How to use a DOI?
Keywords
mobile robot, nonlinear control, trajectory tracking, differential flatness
Abstract
This paper investigates the tracking control of a two-wheeled mobile robot in both kinematic and dynamic models. Differential flatness and PD-spectral theory are used for controller design. Based on differential flatness, the original system is transformed via a state prolongation and a state transformation into a normal form to apply feedback linearization. Then using PD-spectral theory, variable poles of tracking error dynamics are assigned to realize the stability of trajectory tracking. Simulation results are presented to demonstrate the effectiveness of the proposed method.

Copyright
© 2013, the Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).