Analysis and Design of Non-Time Based Motion Controller for Mobile Robots

A new design method for non-time based tracking controller of mobile robots is presented. The new design method converts a controller designed by traditional time-based approaches to a non-time based controller using any given action reference. The stability condition of non-time based tracking controller is developed and theoretically proved. The analysis and design methods are exemplified by a mobile robot tracking control problem. The controller has been implemented and tested in a Nomadic XR4000 mobile robot. The experimental results demonstrate the advantages of proposed method.

• Type: Conference
• Year: 1999
• Where: ICRA
• Authors: Wei Kang, Ning Xi, Jindong Tan
• Keywords: Design Methods, ICRA 1999, Mobile Robot, Robotics, Tracking Controller