Steering Nonholonomic Systems with Cosine Switch Control

摘要

In this paper, a cosine switch control method for nonholonomic chained form system is proposed. Inputs switch between two modes to steer the nonholonomic system from an initial configuration to an arbitrary final configuration. The motion trajectories of states are smooth and have low oscillation under the cosine switch control. It has proved that a mobile robot system can be converted into chained form system. Thus, a two-wheeled mobile robot model is discussed as an example to illustrate the application of this new control algorithm. Finally, simulations and experiments of mobile robot are implemented to verify the feasibility and effectiveness of the proposed method.