Control Lyapunov Function Design for Trajectory Tracking Problems of Wheeled Mobile Robot. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Kubo, Ryoya; Fujii, Yasuhiro; Nakamura, Hisakazu
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 6177
• Page End: 6182
• Publication Date: 2020
• Subjects: Nonlinear Control -- Control Lyapunov Function -- Minimum Projection Method; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.1704
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: Trajectory tracking is an important control problem that has been studied by many researchers. However, no studies have discussed the trajectory tracking problem for a wheeled mobile robot via the minimum projection method. This paper proposes a Tracking Control Lyapunov Function (TCLF) design that uses dynamic extension and the minimum projection method. The proposed method converges the two-wheeled mobile robot to a time-varying target state. Moreover, the effectiveness of the proposed method is validated through a computer simulation.