Title :
Grobal position and posture control of a two-wheeled mobile robot using a discontinuous homogeneous control
Author :
Nakamura, Hisakazu ; Kaji, Toshimitsu ; Nishitani, Hirokazu ; Yamashita, Yuh
Author_Institution :
Graduate Sch. of Inf. Sci., Nara Inst. of Sci. & Technol.
Abstract :
This paper focuses on the problem of global stabilization of a two-wheeled mobile robot. We propose a global exponentially stabilizing controller for a two-wheel mobile robot based on the discontinuous finite-time homogeneous controller for chained systems. Moreover, we demonstrate the effectiveness of proposed method through an experiment using a "Khepera 2" mobile robot
Keywords :
asymptotic stability; distributed control; mobile robots; position control; sampled data systems; Khepera 2; chained systems; discontinuous finite-time homogeneous controller; discontinuous homogeneous control; exponentially stabilizing controller; global position control; global stabilization; nonholonomic system; nonlinear control; posture control; two-wheeled mobile robot; Control systems; Convergence; Equations; Information science; Manipulators; Mathematical model; Mobile robots; Nonlinear control systems; Orbital robotics; Wheels;
Conference_Titel :
Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on
Conference_Location :
Toronto, Ont.
Print_ISBN :
0-7803-9354-6
DOI :
10.1109/CCA.2005.1507356
