State Feedback Control to Track a Moving Object for a Non-Holonomic Mobile Robot

Yan Cui Hui; Yi Qiang Peng; Xian Ye

doi:10.4028/www.scientific.net/AMM.44-47.646

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 44-47State Feedback Control to Track a Moving Object...

State Feedback Control to Track a Moving Object for a Non-Holonomic Mobile Robot

Abstract:

In this paper, a state feedback control algorithm for non-holonomic robot to track a moving object is described. In order to generate continuous velocity profile, some independent time varying functions are introduced for calculation the state feedback variables. The simulation of the control algorithm is implemented with MATLAB. The results shows that, with the designed state feedback control algorithm, the wheeled mobile robot can track a moving object and the trajectory is also reasonable.

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Periodical:

Applied Mechanics and Materials (Volumes 44-47)

Pages:

646-650

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.44-47.646

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Online since:

December 2010

Authors:

Yan Cui Hui, Yi Qiang Peng, Xian Ye

Keywords:

Non-Holonomic Mobile Robot, State Feedback Control, Velocity Profile

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