Hierarchical Tracking Control of Car-Like Mobile Robots

摘要: A hierarchical tracking controller for a car-like mobile robot subject to nonholonomic constraints is designed in this paper. The special structure of the derived equations motion makes it possible separate design into three levels: planning, kinematic, and dynamic. In proposed scheme, fuzzy inference engine kinematic level used change desired trajectory computed from planning level. sliding mode adopted track new reference values privileged coordinates dynamic level, which subsequently drives non-privileged values. From simulation results, shown that such control simultaneously takes kinematics dynamics consideration indeed effectively solve problem. All variables can be steered their asymptotically, assured by skew-symmetric property reduced Appell equation.