Stability Analysis of the Internal Dynamics of a Wheeled Mobile Robot
Abstract
The stability of the internal dynamics of a wheeled mobile robot is analyzed. It is
shown that the wheeled mobile robot exhibits unstable internal dynamics when moving
backwards. Most control methods of wheeled mobile robots are designed based on
input-output relations. Since the internal dynamics are not represented in input-output
relations, stability properties of the internal dynamics are generally neglected. Nevertheless,
the internal dynamics do affect the behavior of mobile robots. Taking the lookahead
control method as an example, it is shown that, by using a novel Liapunov
function, the internal dynamics of a two-wheel differential-drive mobile robot are unstable
when it is commanded to move backwards. Both simulation and experimental results
are provided to verify the analysis.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.Collections
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