Exponential stabilization of nonholonomic mobile robots

被引：29
|
作者：
Pourboghrat, F [1 ]
机构：
[1] So Illinois Univ, Dept Elect & Comp Engn, Carbondale, IL 62901 USA
来源：
COMPUTERS & ELECTRICAL ENGINEERING | 2002年 / 28卷 / 05期
关键词：
robot; nonholonomic constraint; point-to-point motion; stabilization and control; piecewise continuous control; backstepping technique; Lyapunov stability method; exponential stability;
D O I：
10.1016/S0045-7906(00)00054-9
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
The problem of point-to-point control design for differentially steered nonholonomic mobile robots is considered in this paper. The control variables are derived using Lyapunov's stability technique and are piecewise continuous. The proposed control law guarantees the exponential stability of the closed-loop system and ensures the convergence of the position and the orientation of the robot to their desired fixed values. (C) 2002 Elsevier Science Ltd. All rights reserved.
引用
收藏
页码：349 / 359
页数：11
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