Hybrid control design for a wheeled mobile robot

Authors:
Thomas Bak;Jan Bendtsen;Anders P. Ravn
Affiliations:
Department of Control Engineering, Aalborg University, Aalborg, Denmark;Department of Control Engineering, Aalborg University, Aalborg, Denmark;Department of Computer Science, Aalborg University, Aalborg, Denmark
Venue:
HSCC'03 Proceedings of the 6th international conference on Hybrid systems: computation and control
Year:
2003

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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 non-linear trajectory tracking feedback control law based on dynamic feed-back 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.