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, Turkey, 26 - 28 August 2010, vol.4, pp.138-143 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 4
  • Doi Number: 10.3182/20100826-3-tr-4016.00028
  • City: Antalya
  • Country: Turkey
  • Page Numbers: pp.138-143
  • Keywords: Circling behavior, Feedback linearization, Kinematics in polar coordinates, Mobile robots, Periodical control

Abstract

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.