This paper proposes an optimal time-varying linear state feedback control for wheeled mobile robot of the unicycle type. The control law that stabilizes exponentially the motion of the robot to a given desired trajectory is found, after transformation of the cinematic model of the robot into a well-known Brocket integrator . Numerical simulations are presented in order to demonstrate the effectiveness of the proposed control design.
Optimal Linear State Feedback Time-Varying Regulator for a Unicycle Mobile Robot
- Views Icon Views
- Share Icon Share
- Search Site
Rafikova, E, Kurka, PRG, & Rafikov, M. "Optimal Linear State Feedback Time-Varying Regulator for a Unicycle Mobile Robot." Proceedings of the ASME 2008 9th Biennial Conference on Engineering Systems Design and Analysis. Volume 4: Fatigue and Fracture; Fluids Engineering; Heat Transfer; Mechatronics; Micro and Nano Technology; Optical Engineering; Robotics; Systems Engineering; Industrial Applications. Haifa, Israel. July 7–9, 2008. pp. 423-429. ASME. https://doi.org/10.1115/ESDA2008-59167
Download citation file: