Abstract
For regulating a dynamic nonholonomic WMR (wheeled mobile robot) with parameter uncertainties, we derive a simple robust discontinuous control law, yielding a global exponential convergence of position and orientation to the desired set point despite parameter uncertainties. The controller design relies on separating the error dynamics into two subsystems, followed by robust feedback control laws to stabilize the subsystems. The effectiveness of the proposed control laws is verified by simulation.
| Original language | English |
|---|---|
| Pages (from-to) | 960-974 |
| Number of pages | 15 |
| Journal | International Journal of Robust and Nonlinear Control |
| Volume | 18 |
| Issue number | 9 |
| DOIs | |
| State | Published - Jun 2008 |
Keywords
- Nonholonomic systems
- Parameter uncertainties
- Robust stabilization
- Wheeled mobile robots
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