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
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;
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
DOI :
10.1109/IROS.1996.570632
