Design of circling around a target controllers for mobile robots by feedback linearization

Samiloglu A. T., Gazi V., KOKU A. B.

IFAC International Workshop on Periodic Control Systems, PSYCO 2010, Antalya, Türkiye, 26 - 28 Ağustos 2010, cilt.4, ss.138-143 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası: 4
  • Doi Numarası: 10.3182/20100826-3-tr-4016.00028
  • Basıldığı Şehir: Antalya
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.138-143
  • Anahtar Kelimeler: Circling behavior, Feedback linearization, Kinematics in polar coordinates, Mobile robots, Periodical control
  • Yıldız Teknik Üniversitesi Adresli: Evet

Özet

Unlike the studies in the literature utilizing pre-generated paths for tracking circular trajectories by mobile robots, in this study the circling around a target problem is considered as a periodic system problem and the states in the system kinematics are forced to converge to periodical trajectories. We propose controllers for the circling around a target behavior of mobile robots developed by static and dynamic feedback linearization techniques. We derive the conditions on the underdamped and overdamped stable responses of the systems and present corresponding simulation results for each case. © 2010 IFAC.