Title :
A novel global tracking control method for mobile robots
Author :
Wu Weiguo ; Chen, Huitang ; Wang, Yuejuan
Author_Institution :
Dept. of Electr. Eng., Tongji Univ., Shanghai, China
Abstract :
Concerns trajectory tracking control of mobile robots. In order to overcome the local stability resulting from design methods adapted from linearization, a global asymptotic stable controller, which both achieves global stability margin and avoids winding phenomenon, is designed using a backstepping method. This method breaks down nonlinear systems into low dimensional systems and simplifies the controller design using virtual control inputs and partial Lyapunov functions. The stability of the system is easily proven via the Lyapunov function. Abundant simulation results validate the theoretical analysis
Keywords :
Lyapunov methods; asymptotic stability; control system synthesis; mobile robots; nonlinear control systems; position control; backstepping method; global asymptotic stable controller; global tracking control method; low dimensional systems; partial Lyapunov functions; trajectory tracking control; virtual control inputs; Asymptotic stability; Backstepping; Control systems; Design methodology; Lyapunov method; Mobile robots; Nonlinear control systems; Nonlinear systems; Robot control; Trajectory;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.812748
