Control of a four-wheeled mobile vehicle using update type feedforward input generation method based on time-polynomial

Abstract

Wheeled mobile robots with nonholonomic constraints cannot be stabilized by a static continuous-state feedback. In this paper, we consider a regulator problem of controlling a four-wheeled mobile vehicle from an arbitrary initial state to a target point, and apply the update type feedforward (FF) control input generation using the time-polynomial method (UFFT) to generate FF control input. The UFFT method is proposed as a control method for a crane system with restrictions on drive system, iteratively computes the control input at a constant time interval to reduce a residual sway. The generated FF control inputs are robust to modeling and quantization errors. The effectiveness of the UFFT method when applied to a four-wheeled mobile vehicle with front-wheel steering and rear-wheel drive is confirmed by the simulation.