Feedback Control Of A Nonholonomic Wheeled Mobile Robot

Nonholonomic constraint is the constraint that contains time derivatives of the generalized coordinates of the system and is not integrable. Typical nonholonomic systems include cars, mobile robots, some of the space robots, underwater robots, and so on. Therefore, research work on the control of nonholonomic systems has wide applications and important potential values.In this thesis, a new kinematic model of nonholonomic car-like robot, differential driving car-like robot model is proposed. A feedback controller via approximate linearization and a feedback controller via exact feedback linearization are designed for trajectory tracking problem. It is proved that differential driving car-like robot model can be converted into a canonical form, chained form. This research has universal significance. A car-like robot lab platform is designed. The hardware and software design of the robot are introduced primarily. The control method was used in the experiment of circle tracking and the result is very good.