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A Novel Nonlinear Control Law with Trajectory Tracking Capability for Nonholonomic Mobile Robots: Closed-Form Solution Design |
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PP: 749-754 |
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Author(s) |
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Yung-Hsiang Chen,
Tzuu-Hseng S. Li,
Yung-Yue Chen,
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Abstract |
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A novel nonlinear robust trajectory tracking control law for nonholonomic mobile robot is presented in this paper. This
approach can be applied to generate trajectory tracking control commands on nonholonomic mobile robot movement. The design
objective is to specify one nonlinear robust control law that satisfies the H2 performance, for the nonlinear trajectory tracking control
of nonholonomic mobile robot. In general, it is hard to obtain the closed-form solution from this nonlinear trajectory-tracking problem.
Fortunately, because of the skew symmetric property of the trajectory tracking system of the nonholonomic mobile robot and adequate
choice of state variable transformation, the H2 trajectory-tracking problems can be reduced to solving one nonlinear time varying
Riccati-like equations. Furthermore, one closed-form solution to this nonlinear time varying Riccati-like equation can be obtained with
very simple forms for the preceding control design. Finally, there are two practical testing conditions: circular and square like reference
trajectories are used for performance verifications. |
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