DocumentCode
2411013
Title
Discontinuous control for exponential stabilization of wheeled mobile robots
Author
Tayebi, A. ; Rachid, A.
Author_Institution
Lab. des Syst. Autom., Picardie Univ., Jules Verne, France
Volume
1
fYear
1996
fDate
4-8 Nov 1996
Firstpage
60
Abstract
This paper presents an exponentially stabilizing controller for a unicycle-like mobile robot, by means of a new coordinates transformation and Lyapunov method. The proposed control law allows to drive the vehicle in forward or backward motion from any initial configuration to any final one without inverting the direction of motion provided that the robot configuration is, initially, into a large domain excluding the free-y axis. The enclosed simulation results show the effectiveness of the proposed controller
Keywords
Lyapunov methods; mobile robots; stability; Lyapunov method; coordinates transformation; discontinuous control; exponential stabilization; unicycle; wheeled mobile robots; Automatic control; Control systems; Drives; Lyapunov method; Mobile robots; Motion control; Robot kinematics; State feedback; Vehicle driving; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location
Osaka
Print_ISBN
0-7803-3213-X
Type
conf
DOI
10.1109/IROS.1996.570632
Filename
570632
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