Suruz Miah, Peter A. Farkas, Wail Gueaieb, Hicham Chaoui, and Mohammad Anwar Hossain
Ackermann Steering, Hamiltonian, Mobile Robots, Optimal Feed-back Gain
In this paper, we propose an optimal state-feedback control law for addressing point stabilization and tracking problems of nonholo- nomic vehicles with Ackermann steering in a unified manner. Unlike other feedback controllers that perform dynamic linearization of vehicle models, the proposed optimal feedback controller provides the state-feedback control to the original nonlinear vehicle model for achieving excellent state-tracking performance. In addition, non- linear control techniques suggested in the literature to date require that the desired trajectory of the robot is generated using persis- tently excited inputs. This may be too restrictive and non-realistic hypothesis to mimic a real scenario. Here, we address this issue by developing a smooth state-feedback control law that is formulated by modifying the classical Pontryagin’s minimum principle. The proposed control law can be applied for solving control problems of a general class of nonlinear affine systems. The proposed control scheme offers a modular solution to other control techniques for a large number of mobile robot applications. The theoretical results are validated through computer simulations.
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