Title :
Experiments in exponential stabilization of a mobile robot towing a trailer
Author :
Closkey, Robert T M ; Murray, Richard M.
Author_Institution :
Dept. of Mech. Eng., California Inst. of Technol., Pasadena, CA, USA
fDate :
29 June-1 July 1994
Abstract :
Applies some previously developed control laws for stabilization of mechanical systems with non-holonomic constraints to an experimental system consisting of a mobile robot towing a trailer. The authors verify the applicability of various control laws which have appeared in the recent literature, and compare the performance of these controllers in an experimental setting. In particular, the authors show that time-periodic, non-smooth controllers can be used to achieve exponential stability of a desired equilibrium configuration, and that these controllers outperform smooth, time-varying control laws. The authors also point out several practical considerations which must be taken into account when implementing these controllers.
Keywords :
feedback; mechanical stability; mobile robots; periodic control; stability; time-varying systems; exponential stabilization; mechanical systems; mobile robot; nonholonomic constraints; time-periodic nonsmooth controllers; towing; trailer; Control systems; Equations; Kinematics; Mechanical engineering; Mechanical systems; Mobile robots; Optical feedback; Stability; Time varying systems; Wheels;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.751893