Title :
A universal saturation controller design for mobile robots
Author :
Do, K.D. ; Jiang, Z.-P. ; Pan, J.
Author_Institution :
Dept. of Electr. & Comput. Eng., Polytech. Univ., NY, USA
Abstract :
We propose a global time-varying universal controller to achieve stabilization and tracking simultaneously for mobile robots with saturated inputs. The controller synthesis is based on Lyapunov´s direct method and backstepping technique. Numerical simulations are provided to validate the effectiveness of the proposed controller.
Keywords :
Lyapunov methods; mobile robots; stability; time-varying systems; Lyapunov direct method; backstepping technique; controller synthesis; mobile robots; numerical simulations; time-varying universal controller; universal saturation controller design; Angular velocity; Control system synthesis; Control systems; Feedback control; Kinematics; Mechanical engineering; Mechanical systems; Mobile robots; Motion control; Numerical simulation;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184830
