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Hybrid Control Design for a Wheeled Mobile Robot

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Hybrid Systems: Computation and Control (HSCC 2003)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2623))

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Abstract

We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking feedback control law based on dynamic feedback linearization is sufficient to stabilize the system and ensure asymptotically stable tracking. Transitions to other modes are derived systematically from this model, whenever the configuration space of the controlled system has some fundamental singular points. The stability of the hybrid control scheme is finally analyzed using Lyapunov-like arguments.

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Author information

Authors and Affiliations

  1. Department of Control Engineering, Aalborg University, Fredrik Bajers Vej 7C, DK-9220, Aalborg, Denmark

    Thomas Bak & Jan Bendtsen

  2. Department of Computer Science, Aalborg University, Fredrik Bajers Vej 7E, DK-9220, Aalborg, Denmark

    Anders P. Ravn

Authors
  1. Thomas Bak
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  2. Jan Bendtsen
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  3. Anders P. Ravn
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Editor information

Editors and Affiliations

  1. CNRS-VERIMAG, 2 avenue de Vignate, 38610, Gières, France

    Oded Maler

  2. Weizmann Institute of Science, Rehovot, 76100, Israel

    Amir Pnueli

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© 2003 Springer-Verlag Berlin Heidelberg

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Bak, T., Bendtsen, J., Ravn, A.P. (2003). Hybrid Control Design for a Wheeled Mobile Robot. In: Maler, O., Pnueli, A. (eds) Hybrid Systems: Computation and Control. HSCC 2003. Lecture Notes in Computer Science, vol 2623. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36580-X_7

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  • DOI: https://doi.org/10.1007/3-540-36580-X_7

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00913-9

  • Online ISBN: 978-3-540-36580-8

  • eBook Packages: Springer Book Archive

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