Tracking control of mobile robots -- a new approach
Date: 17 June 2010
Venue: T1535, Singapore Polytechnic
The presentation will describe a Lyapunov based control scheme for a mobile robot to track a moving target. The target’s velocity as well as its position relative to the robot is considered in system modelling. Their effects on the robot’s manoeuvre is analysed, and several methods are proposed to moderate the magnitude and the fluctuation of the control effort (robot velocity) in the controller design. Simulation and experimental results will be provided to verify the effectiveness of the proposed approach.
Dr Loulin Huang have about twenty years experience in teaching, research and development in the areas of robotics, mechatronics and control in institutions including Huazhong University of Science and Technology (China), Singapore Polytechnic (Singapore) and Massey University (New Zealand) where he is currently a Senior Lecturer of Mechatronics.