Abstract
© 2017 Comisión Permanente RPIC. This paper describes a time-invariant controller for trajectory tracking applied to the differential-drive mobile robot (DDMR), where the interest point position is located in an arbitrary position, the extended kinematic model of DDMR is used to propose a inverse kinematic controller; where, the extended kinematic model proposes a holonomic-like model for non-holonomic system, allowing this way, the use of inverse kinematic as control strategy. The system stability is proved by according to the Lyapunov theory, concluding that the system is asymptotically stable. Simulations show a good controller performance for different trajectories proposed.
Original language | English |
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Pages | 1-4 |
Number of pages | 4 |
DOIs | |
State | Published - 14 Dec 2017 |
Event | 2017 17th Workshop on Information Processing and Control, RPIC 2017 - Mar de Plata, Argentina Duration: 20 Sep 2017 → 22 Sep 2017 |
Conference
Conference | 2017 17th Workshop on Information Processing and Control, RPIC 2017 |
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Abbreviated title | RPIC 2017 |
Country/Territory | Argentina |
City | Mar de Plata |
Period | 20/09/17 → 22/09/17 |