DocumentCode
2351600
Title
Practical stabilization of wheeled mobile robots based on control Lyapunov function
Author
Xinzhe, Pei ; Zhiyuan, Liu ; Run, Pei ; Hong, Chen
Author_Institution
Dept. of Control Sci. & Eng., Harbin Inst. of Technol., China
Volume
1
fYear
2002
fDate
2002
Firstpage
345
Abstract
In this paper, a method to globally practically stabilize wheeled mobile robots (WMR) with two control inputs is proposed based on control Lyapunov function (CLF). A formulation of the stabilizing controller is obtained for a performance index and control-affine driftless systems by means of approximating the value function of the performance index by a CLF associated with the system considered. The controller can guarantee stability and is useful to examine the system performance under different performance indices. Simulation is performed to highlight the effectiveness of the proposed control law.
Keywords
Lyapunov methods; mobile robots; performance index; stability criteria; CLF; WMR; control Lyapunov function; control-affine driftless systems; guaranteed stability; performance index; stabilization; wheeled mobile robots; Control systems; Feedback; Lyapunov method; Mobile robots; Motion control; Motion planning; Nonlinear control systems; Performance analysis; Robot control; Sliding mode control;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 2002. Proceedings of the 2002 International Conference on
Print_ISBN
0-7803-7386-3
Type
conf
DOI
10.1109/CCA.2002.1040210
Filename
1040210
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