Exponential Stabilization of a Wheeled Mobile Robot Via Discontinuous Control-Reference-Cited by-同舟云学术

Exponential Stabilization of a Wheeled Mobile Robot Via Discontinuous Control

Published:1999-03-01 Issue:1 Volume:121 Page:121-126
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Astolfi A.¹

Affiliation:

1. Department of Electrical and Electronic Engineering, Imperial College, Exhibition Road, London SW7 2BT, UK.

Abstract

In the present work the problem of exponential stabilization of the kinematic and dynamic model of a simple wheeled mobile robot is addressed and solved using a discontinuous, bounded, time invariant, state feedback control law. The properties of the closed-loop system are studied in detail and its performance in presence of model errors and noisy measurements are evaluated and discussed.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/121/1/121/5508055/121_1.pdf

Reference19 articles.

1. D. Aeyels, “Remarks on the stabilizability of nonlinear systems by smooth feedback,” Perspective in Control Theory, Birkha¨user, 1990.

2. A. Astolfi, “On the stabilization of non-holonomic systems,” 33rd Conference on Decision and Control, Orlando, FL, pp. 3481–3486. IEEE, 1994. Invited Session: Discontinuous Stabilizing Control Design.

3. A. Astolfi, “Asymptotic stabilization of nonholonomic systems with discontinuous control,” PhD thesis, Eidgeno¨ssische Technische Hochschule, 1995.

4. A. Astolfi, “Exponential stabilization of a mobile robot,” 3rd European Control Conference, Rome, Italy, 1995.

5. E. Badreddin, “Ramsis concept and specifications,” 19th Int. Symp. on Allied Tech. and Automation (ISATA), Monte Carlo, pp. 102–121, 1988.

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