Title :
Configuration Constrained Stabilization of a Wheeled Mobile Robot— Theory and Experiment
Author :
Sankaranarayanan, V. ; Mahindrakar, Arun D.
Author_Institution :
Dept. of Electr. & Electron. Eng., Nat. Inst. of Technol., Tiruchirappalli, India
Abstract :
We propose a nonlinear control law based on sliding mode control technique to stabilize a mobile robot while adhering to the physical constraints on its configuration variables. The notion of constrained stabilization is used to prove the stability of the closed-loop system. A key contribution is the design of controller gains in accordance to the restrictions on the initial condition domain. The proposed technique is validated through both numerical simulation and experimental results.
Keywords :
closed loop systems; control system synthesis; mobile robots; nonlinear control systems; numerical analysis; stability; variable structure systems; closed-loop system; configuration constrained stabilization; configuration variables; controller gains; experimental results; initial condition domain; nonlinear control law; numerical simulation; sliding mode control technique; wheeled mobile robot; Mobile robots; Numerical stability; Robot kinematics; Stability analysis; Trajectory; Wheels; Mobile robot; nonholonomic; practical stability; sliding mode; state constraints;
Journal_Title :
Control Systems Technology, IEEE Transactions on
DOI :
10.1109/TCST.2011.2181378