In the field of mobile robotics, many applications require feedback control laws that provide perfect path following. Previous work has shown that transverse feedback linearization
is an effective approach to designing path following controllers that achieve perfect path following and path invariance. This thesis uses transverse feedback linearization and
augments it with dynamic extension to present a framework for designing path following controllers for certain kinematic models of mobile robots. This approach can be used to
design path following controllers for a large class of paths. While transverse feedback linearization makes the desired path attractive and invariant, dynamic extension allows the
closed-loop system to achieve the desired motion along the path. In particular, dynamic extension can be used to make the mobile robot track a desired velocity or acceleration
profile while moving along a path.
| Identifer | oai:union.ndltd.org:WATERLOO/oai:uwspace.uwaterloo.ca:10012/6365 |
| Date | 13 October 2011 |
| Creators | Akhtar, Adeel |
| Source Sets | University of Waterloo Electronic Theses Repository |
| Language | English |
| Detected Language | English |
| Type | Thesis or Dissertation |
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