Design of Circling Around a Target Controllers for Mobile Robots by Feedback Linearization

Date

2010-08-28

Author

ŞAMİLOĞLU, ANDAÇ TÖRE
GAZİ, VEYSEL
Koku, Ahmet Buğra

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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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.

Subject Keywords

Mobile robots, Periodical control, Circling behavior, Feedback linearization, Kinematics in polar coordinates

URI

https://hdl.handle.net/11511/43890

DOI

https://doi.org/10.3182/20100826-3-tr-4016.00028

Collections

Department of Mechanical Engineering, Conference / Seminar

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Citation Formats

A. T. ŞAMİLOĞLU, V. GAZİ, and A. B. Koku, “Design of Circling Around a Target Controllers for Mobile Robots by Feedback Linearization,” 2010, vol. 43, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/43890.