| This thesis is about modeling and feedback control design for an autonomous differentialdrive mobile robot. Modeling the actuators, kinematics and dynamics, a stable statefeedback controller for the trajectory tracking motion of the mobile robot based on thenonlinear feedback control algorithm has been developed. Specifically, using thetechnique of input-output feedback linearization, the paper addressed the trajectorytracking control problem that attained a sound system performance. The formulatedcontroller is robust against variations in initial conditions such as the initial position of therobot and its longitudinal velocity. We evaluated the validity and effectuality of thecontrol algorithm through a software simulation on Matlab/Simulink. The simulationshave shown that the formulated control law enabled the mobile robot to successfully trackan arbitrary reference trajectory despite the initial position and forward velocityvariations. |
PDF Full Text Request