Realization of Wheeled Robot Motion along Specified Trajectory

An algorithm of controls is offered that realizes the motion of a mobile robot following a line along which the velocity profile is defined. A model of motion of a robot on the wheeled mobile platform with the automobile configuration of wheels is given which takes into account an effect of pseudosliding connected with the deformation of periphery of wheels. An acceleration of the robot center-of mass and angle of the front wheel rotation are selected as magnitudes under control. Virtual outputs are described with which the model is transformed to the normal form. For the specified program motion, the non-steady normal form of the system in deviations is derived and its null dynamics is investigated. Using the method of non-linear stabilization, the non-steady feedback is constructed which stabilizes the program motion. Results of numerical simulation are given.