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Trajectory Tracking of Autonomous Mobile Robots Using Nonlinear Dynamic Inversion

Anoohya, Bhavya B and Padhi, Radhakant (2018) Trajectory Tracking of Autonomous Mobile Robots Using Nonlinear Dynamic Inversion. In: 5th IFAC Conference on Advances in Control and Optimization of Dynamical Systems (ACODS), FEB 18-22, 2018, Hyderabad, INDIA, pp. 202-207.

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Official URL: https://dx.doi.org/10.1016/j.ifacol.2018.05.041


By directly dealing with nonlinear model of the robot this paper presents dynamic inversion as a method of control for reference trajectory tracking of autonomous wheeled mobile robots. Dynamic Inversion control is a technique that guarantees asymptotic stability of the error dynamics leading to appreciable tracking of reference compared to linearised design approach. Nonlinear kinematic model of a differential drive wheeled mobile robot (WMR) is considered as plant. Experimentation has been done to show the implementability of the method in real-time on a real robot. Results are shown for tracking circle and infinity-shaped reference trajectories. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

Item Type: Conference Proceedings
Additional Information: Copyright of this article belong to ELSEVIER SCIENCE BV, PO BOX 211, 1000 AE AMSTERDAM, NETHERLANDS
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Depositing User: Id for Latest eprints
Date Deposited: 13 Aug 2018 15:31
Last Modified: 06 Oct 2018 14:00
URI: http://eprints.iisc.ac.in/id/eprint/60419

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