TY - GEN
T1 - Unified controller for position stabilization and tracking of wheeled mobile robots
AU - Xie, Wenjing
AU - Ma, Baoli
PY - 2012
Y1 - 2012
N2 - Under the assumption that for the desired point, only the position states are known, a continuous state feedback unified control law is derived based on Lyapunov technique, sliding-mode approach and a lemma about non-vanishing disturbances, guaranteeing that the position errors globally exponentially converge to a small neighborhood of the origin, and are globally uniformly ultimately bounded despite the uncertain parameters, furthermore this neighborhood and the ultimate bound can be made arbitrary small via tuning the controller parameters. The simulation results show that using the proposed control law the robot can track the dynamic target with any movement form.
AB - Under the assumption that for the desired point, only the position states are known, a continuous state feedback unified control law is derived based on Lyapunov technique, sliding-mode approach and a lemma about non-vanishing disturbances, guaranteeing that the position errors globally exponentially converge to a small neighborhood of the origin, and are globally uniformly ultimately bounded despite the uncertain parameters, furthermore this neighborhood and the ultimate bound can be made arbitrary small via tuning the controller parameters. The simulation results show that using the proposed control law the robot can track the dynamic target with any movement form.
KW - Parameter uncertainties
KW - Position stabilization
KW - Position tracking
KW - Unified control
KW - Wheeled mobile robots
UR - https://www.scopus.com/pages/publications/84873553968
M3 - 会议稿件
AN - SCOPUS:84873553968
SN - 9789881563811
T3 - Chinese Control Conference, CCC
SP - 4490
EP - 4495
BT - Proceedings of the 31st Chinese Control Conference, CCC 2012
T2 - 31st Chinese Control Conference, CCC 2012
Y2 - 25 July 2012 through 27 July 2012
ER -