Linear Controller Design using Pole Placement Method for Nonholonomic Mobile Robot Trajectory Tracking

Abstract

This work proposes a stable tracking control rule for nonholonomic mobile robot. A closed-loop linearized system model is presented. The feedback controller gains (driving, lateral, and angular) are computed using the pole placement method, where the desired characteristic polynomial equation is compared with the system characteristic polynomial. The poles of the desired characteristic polynomial are located in the stable region of the complex plane. The time varying controller parameters are proposed to overcome undesired system response due to high gain in the lateral direction. The proposed method has been simulated. Satisfactory performances of the trajectory tracking have been verified from simulation results.