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Authors
Xiang Li; Andreas Zell

Identifier
10.3182/20060906-3-IT-2910.00010

Index Terms
robot control,follow-up control,linear output feedback,proportional controllers,feedback control methods

Abstract
This paper focuses on the control problem of a mobile robot pushing a ball. In order to drive a rolling ball along a given path, the robot should provide the ball with appropriate force by consecutive pushing operations. A new control algorithm combining a linear feedback control with a normal proportional feedback control is proposed, which steers a reference point to follow the given path and the ball to move around this point simultaneously. In the end, the simulation and real-world experiments address the performance and robustness of this control algorithm.

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