DocumentCode
1886211
Title
Discontinuous backstepping for stabilization of nonholonomic mobile robots
Author
Tanner, Herbert G. ; Kyriakopoulos, Kostas J.
Author_Institution
GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
Volume
4
fYear
2002
fDate
2002
Firstpage
3948
Abstract
Presents a method of performing integrator backstepping in systems that are discontinuous, either due to their inherent structure or because of the applied control input. The proposed technique is applied to the stabilization problem of the dynamic system of a nonholonomic mobile robot. Simulation studies indicate that the methodology can also help alleviate the problem of chattering that is commonly associated with discontinuous nonholonomic controllers.
Keywords
control nonlinearities; mobile robots; robot kinematics; sampled data systems; stability; chattering; discontinuous backstepping; discontinuous nonholonomic controllers; integrator backstepping; nonholonomic mobile robots; stabilization; Backstepping; Control systems; Equations; Feedback loop; Kinematics; Laboratories; Mobile robots; Open loop systems; State feedback; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1014346
Filename
1014346
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