Synthesis of an optimal control law for path tracking in mobile robots
✍ Scribed by A. Hemami; M.G. Mehrabi; R.M.H. Cheng
- Publisher
- Elsevier Science
- Year
- 1992
- Tongue
- English
- Weight
- 329 KB
- Volume
- 28
- Category
- Article
- ISSN
- 0005-1098
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✦ Synopsis
An optimal control law is derived for path tracking control of a class of wheeled mobile robots (WMR) or automated guided vehicles with front steering wheel. Optimality is based on minimizing a quadratic performance index in the position and orientation errors and the steering angle. The existence of such a controller which is in the form of a linear feedback of the two errors (position and orientation) formally proves why such a system can be stabilized about a trajectory by using position and orientation error feedback to determine the command to the steering angle. (This has been widely used recently.) The effect of the controller is illustrated by simulation results for various initial conditions in an experimental vehicle.