Exponential control law for a multi-degree of freedom mobile robot


In this paper, we describe the development of B Dc@rmtfd mobile nonlinear exponential control law for B Multi-Degree Of Freedom (MDOF) wheeled mobile robot. These vehicles have many advantages over the more classical 2-DOF mobile robots. Indeed, the MDOF vehicles can negotiate tight turns easily and are able to travel sideways. Nevertheless, the MDOF robots are over constrained systems, which are diflicult to control. By this reason, MDOF robots are limited to simple applications, Like behavior, we propose the use of a nonlinear control law, which exponentially leads the robot to a desired position with a given orientation. A new set of error variables is defined in order to propose the control vector. This control vector makes the final A typical design of a MDOF mobile robot is the 4-DOF contiguration globally exponentially stable. Results of of the control law, architecture shown in Fig. 1. This robot is able to control the are also included. rotation and orientation velocities of two wheels, independently. The robot HARDY, shown in Fig. 1 as well, is following a guide-wire. In order to obtain an autonomous Rlgid h k g e Figure 2. An equivalent representation of a MDOF robot which illustrate the

DOI: 10.1109/ROBOT.2003.1241645

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@inproceedings{Ramrez2003ExponentialCL, title={Exponential control law for a multi-degree of freedom mobile robot}, author={Gabriel Ram{\'i}rez and Sa{\"{i}d Zeghloul}, booktitle={ICRA}, year={2003} }