Nonlinear tracking control of a nonholonomic fish robot in chained form

Author

Yang, Erfu ; Ikeda, Takayuki ; Mita, Tsutomu

Author_Institution

Dept. of Mech. & Control Syst. Eng., Tokyo Inst. of Technol., Japan

Volume

2

fYear

2003

fDate

4-6 Aug. 2003

Firstpage

1260

Abstract

The nonlinear tracking control of a nonholonomic fish robot in chained form is addressed. First, a time-varying, smooth Lyapunov-based feedback control law for tracking the nonholonomic fish robot is presented, which gives asymptotical convergence to a desired trajectory generated by a reference fish robot. Second, a time-varying feedback control law with asymptotic stability is achieved to dynamically moor the fish robot to a desired docking position by using the currently popular integrator backstepping method. Simulation results for nonlinear tracking and dynamic mooring control are provided to demonstrate the effectiveness of the proposed control laws.

Keywords

Lyapunov methods; asymptotic stability; control system synthesis; convergence; feedback; mobile robots; nonlinear control systems; time-varying systems; tracking; Lyapunov based feedback control law; asymptotic stability; asymptotical convergence; dynamic mooring control; integrator backstepping method; nonholonomic fish robot; nonlinear tracking control; time varying feedback control law;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE 2003 Annual Conference

Conference_Location

Fukui, Japan

Print_ISBN

0-7803-8352-4

Type

conf

Filename

1324145