Nonlinear regulation and path tracking of a wheeled mobile robot in polar coordinates

References

• Aicardi , M. , Casalino , G. , Bicchi , A. and Balestrino , A. 1995 . “Closed Loop Steering of Unicycle‐Like Vehicles via Lyapunov Techniques,” . IEEE Robotics & Automation Magazine , : 27 – 35 .
   Google Scholar
• Bentalba , S. , Hajjaji , A. E. and Rachis , A. “Fuzzy Control of a Mobile Robot: A New Approach” . Proceedings of the 34th IEEE Conference on Decision and Control . Hartford, CT, USA. pp. 69 – 72 .
   Google Scholar
• Bloch , A. M. and Drakunov , S. “Stabilization of a Nonholonomic System via Sliding Modes” . Proceedings of the 33rd IEEE Conference on Decision and Control . Lae Buena Vista, FL, USA. pp. 2961 – 2963 .
   Google Scholar
• Brockett , R. W. 1983 . “Asymptotic Stability and Feedback Stabilization” . In Differential Geometric Control Theory , Vol. 27 , 181 – 208 . Boston, MA, , USA : Birkhauser .
   Google Scholar
• Chwa , D. K. , Seo , J. H. , Kim , P. and Choi , J. Y. “Sliding Mode Tracking Control of Nonholonomic Wheeled Mobile Robots” . Proceedings of the IEEE American Control Conference . pp. 3991 – 3996 .
   Google Scholar
• Dixon , W. E. , Dawson , D. M. , Zergeroglu , E. and Behal , A. 2001 . Nonlinear Control of Wheeled Mobile Robots , New York, , USA : Springer .
   Google Scholar
• Fierro , R. and Lewis , F.L. 1998 . “The Control of a Nonholonomic Mobile Robot Using Neural Networks” . IEEE Transactions on Neural Networks , 9 ( 4 ) : 589 – 600 .
   PubMed Web of Science ®Google Scholar
• Fukao , T. , Nakagawa , H. and Adachi , N. 2000 . “Adaptive Tracking Control of a Nonholonomic Mobile Robot” . IEEE Transactions on Robotics and Automation , 16 ( 5 ) : 609 – 615 .
   Google Scholar
• Gartner , H. and Astolfi , A. “Stability Study of a Fuzzy Controlled Mobile Robot” . Proceedings of the IEEE Decision and Control Conference . pp. 1121 – 1126 .
   Google Scholar
• Jiang , Z. P. and Nijmeijer , H. 1997 . “Tracking Control of Mobile Robots: A Case Study in Backstepping” . Automatica , 33 : 1393 – 1399 .
   Web of Science ®Google Scholar
• Kanayama , Y. J. , Kimura , Y. , Miyazaki , F. and Noguchi , T. “A Stable Tracking Control Scheme for an Autonomous Mobile Robot” . Proceedings of the IEEE International Conference on Robotics and Automation . pp. 384 – 389 .
   Google Scholar
• Oelen , W. and van Amerongen , J. 1994 . “Robust Tracking Control of Two‐Degree‐Freedom Mobile Robots” . Control Engineering Practice , 2 : 333 – 340 .
   Google Scholar
• Pomet , J. B. 1992 . “Explicit Design of Time‐Varying Stabilizing Control Laws for a Class of Controllable Systems Without Drift” . System and Control Letters , 18 : 147 – 158 .
   Web of Science ®Google Scholar
• Samson , C. 1995 . “Control of Chained Systems Applications to Path Following and Time‐Varying Point‐Stabilization of Mobile Robots” . IEEE Transactions on Robotics and Automation , 40 ( 1 ) : 64 – 77 .
   Google Scholar
• Sordalen , O. J. , Canudas , C. and de Wit . “Exponential Control Law for a Mobile Robot: Extension to Path Following” . Proceedings of the IEEE International Conference on Robotics and Automation . France. May . pp. 2158 – 2163 . Nice .
   Google Scholar
• Soueres , P. and Laumond , J. P. 1996 . “Shortest Path Synthesis for a Car‐Like Robot” . IEEE Transactions on Automation Control , 41 ( 5 ) : 672 – 688 .
   Web of Science ®Google Scholar
• Wu , W. , Chen , H. and Wang , Y. “Backstepping Design for Path Tracking of Mobile Robots” . Proceedings of the IEEE International Conference Robots and Systems . pp. 1822 – 1827 .
   Google Scholar
• Based on an awarded paper presented at Automation 2005, the 8th international conference on automation technology, Taichung, Taiwan, R.O.C. during May 5–6, 2005.
   Google Scholar
• Corresponding author. (Tel: 886–4–22851549 ext. 222; Email: [email protected])
   Google Scholar