Title :
Position control of two-wheeled mobile robot via semiconcave function backstepping
Author :
Ryo Matsumoto;Hisakazu Nakamura;Yasuyuki Satoh;Shunsuke Kimura
Author_Institution :
Department of Electrical Engineering, Tokyo University of Science, Ymazaki 2641, Noda, Chiba, Japan
Abstract :
Integrator backstepping is an effective control Lyapunov function (CLF) design method. However, the method requires a smooth CLF of the subsystem. In this paper, we propose a CLF design method with locally semiconcave control Lyapunov function for Two-Wheeled Mobile Robot with Dynamics. Finally, we confirmed the effective of the proposed method by computer simulation.
Keywords :
"Mobile robots","Backstepping","Wheels","Lyapunov methods","Mathematical model","Control systems"
Conference_Titel :
Control Applications (CCA), 2015 IEEE Conference on
DOI :
10.1109/CCA.2015.7320729
