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Double Closed-Loop Trajectory Tracking Control Strategy for Wheeled Mobile Robot

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Intelligent Robotics and Applications (ICIRA 2024)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 15204))

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Abstract

The traditional control method of wheeled robot has the problem that system is unstable due to the inconsistency between the actual state and the target state. Therefore, this paper proposes a double closed-loop control strategy based on trajectory tracking considering global stability. Initially, a comprehensive kinematics model is formulated. Based on the kinematics model of the system, the controller is designed to ensure the Lipchitz condition of position tracking closed-loop system, so as to ensure that stability of the system. Subsequently, the stability of the controller is validated through the application of Lyapunov stability theory. Finally, the effectiveness of the control strategy is verified by simulations.

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Author information

Authors and Affiliations

  1. Department of Mechanical and Electrical Engineering, Wenhua College, Wuhan, 430074, China

    Yateng Wang & Rui Liu

  2. School of Electrical and Information Engineering, Wuhan Institute of Technology, Wuhan, 430205, China

    Ziang Wei

Authors
  1. Yateng Wang
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  2. Ziang Wei
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  3. Rui Liu
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Corresponding author

Correspondence to Rui Liu .

Editor information

Editors and Affiliations

  1. Xi’an Jiaotong University, Xi’an, China

    Xuguang Lan

  2. Xi’an Jiaotong University, Xi’an, China

    Xuesong Mei

  3. Xi’an Jiaotong University, Xi’an, Baden-Württemberg, China

    Caigui Jiang

  4. Xi’an Jiaotong University, Xi’an, China

    Fei Zhao

  5. Xi'an Jiaotong University, Xi'an, China

    Zhiqiang Tian

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Wang, Y., Wei, Z., Liu, R. (2025). Double Closed-Loop Trajectory Tracking Control Strategy for Wheeled Mobile Robot. In: Lan, X., Mei, X., Jiang, C., Zhao, F., Tian, Z. (eds) Intelligent Robotics and Applications. ICIRA 2024. Lecture Notes in Computer Science(), vol 15204. Springer, Singapore. https://doi.org/10.1007/978-981-96-0798-3_3

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  • DOI: https://doi.org/10.1007/978-981-96-0798-3_3

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-96-0797-6

  • Online ISBN: 978-981-96-0798-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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