• DocumentCode
    425761
  • Title

    Combination of kinematical and robust dynamical controllers for mobile robotics tracking control: (II) suboptimal L1 control

  • Author

    Hwang, Chi-kuang ; Chen, Bor-Sen ; Chang, Yu-Te

  • Author_Institution
    Dept. of Electr. Eng., Chung-Hua Univ., Hsinchu, Taiwan
  • Volume
    2
  • fYear
    2004
  • fDate
    2-4 Sept. 2004
  • Firstpage
    1211
  • Abstract
    In the study, the model of mobile robots from kinematical behavior is used to design the kinematical tracking controller by using the Lyapunov stability theorem. An almost exponentially stable kinematical controller is proposed. We then consider the dynamic model of the mobile robot with the model uncertainty. Therefore, we combine kinematical almost exponentially stable control and robust L1 tracking performance control in the paper, and this combination is suitable for wheeled vehicle systems with uncertainties and external disturbance.
  • Keywords
    Lyapunov methods; asymptotic stability; control system synthesis; mobile robots; robot dynamics; robot kinematics; suboptimal control; time-varying systems; Lyapunov stability theorem; dynamic model; exponentially stable kinematical controller; kinematical tracking controller; mobile robotics tracking control; model uncertainty; robust L1 tracking performance control; robust dynamical controllers; suboptimal L1 control; Control systems; Feedback; Lyapunov method; Mobile robots; Robot control; Robust control; Shape control; Uncertainty; Vehicle dynamics; Wheels;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on
  • Print_ISBN
    0-7803-8633-7
  • Type

    conf

  • DOI
    10.1109/CCA.2004.1387538
  • Filename
    1387538
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=425761