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Steering Nonholonomic Systems with Cosine Switch Control

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Practical Applications of Intelligent Systems

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 279))

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Abstract

In this paper, a cosine switch control method for nonholonomic chained form system is proposed. Inputs switch between two modes to steer the nonholonomic system from an initial configuration to an arbitrary final configuration. The motion trajectories of states are smooth and have low oscillation under the cosine switch control. It has proved that a mobile robot system can be converted into chained form system. Thus, a two-wheeled mobile robot model is discussed as an example to illustrate the application of this new control algorithm. Finally, simulations and experiments of mobile robot are implemented to verify the feasibility and effectiveness of the proposed method.

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Acknowledgment

This work is supported by Specialized Research Fund for the Doctoral Program of Higher Education (20100143110012).

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Authors and Affiliations

  1. School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, China

    Yifang Liu, Liang Li & Yuegang Tan

Authors
  1. Yifang Liu
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  2. Liang Li
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  3. Yuegang Tan
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Corresponding author

Correspondence to Yifang Liu .

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Editors and Affiliations

  1. College of Computer and Software Engineering, Shenzhen University, Shenzhen, China

    Zhenkun Wen

  2. School of Information Science and Technology, Southwest Jiaotong University, Chengdu, China

    Tianrui Li

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© 2014 Springer-Verlag Berlin Heidelberg

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Liu, Y., Li, L., Tan, Y. (2014). Steering Nonholonomic Systems with Cosine Switch Control. In: Wen, Z., Li, T. (eds) Practical Applications of Intelligent Systems. Advances in Intelligent Systems and Computing, vol 279. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-54927-4_16

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  • DOI: https://doi.org/10.1007/978-3-642-54927-4_16

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-54926-7

  • Online ISBN: 978-3-642-54927-4

  • eBook Packages: EngineeringEngineering (R0)

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