Recursive backstepping stabilization of a wheeled mobile robot

被引：0
|
作者：
Mnif, F [1 ]
机构：
[1] Sultan Qaboos Univ, Dept Elect & Comp Engn, Al Khoud, Oman
来源：
ISCCSP : 2004 FIRST INTERNATIONAL SYMPOSIUM ON CONTROL, COMMUNICATIONS AND SIGNAL PROCESSING | 2004年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This research is aimed to the development of a dynamic control to enhance the performance of the existing dynamic controllers for mobile robots. System dynamics of the car-like robot with nonholonomic constraints were employed. A Backstepping approach for the design of discontinuous state feedback controller is used for the design of the controller. It is shown that the origin of the closed loop system can be made exponentially stable. The control design is made on the basis of a suitable Lyapunov function candidate. The effectiveness of the proposed approach is tested trough simulation on a car-like vehicle mobile robot.
引用
收藏
页码：135 / 139
页数：5
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