Saturated stabilization and tracking of a nonholonomic mobile robot

被引：190

作者：

Jiang, ZP

Lefeber, E

Nijmeijer, H

机构：

[1] Eindhoven Univ Technol, Dept Mech Engn, NL-5600 MB Eindhoven, Netherlands

[2] Polytech Univ, Dept Elect Engn, Brooklyn, NY 11201 USA

[3] Univ Twente, Fac Math Sci, NL-7500 AE Enschede, Netherlands

[4] Univ Sydney, Dept Elect Engn, Sydney, NSW 2006, Australia

来源：

SYSTEMS & CONTROL LETTERS | 2001年 / 42卷 / 05期

基金：

美国国家科学基金会;

关键词：

nonholonomic mobile robot; stabilization; tracking; input saturation;

D O I：

10.1016/S0167-6911(00)00104-3

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a framework to deal with the problem of global stabilization and global tracking control for the kinematic model of a wheeled mobile robot in the presence of input saturations. A model-based control design strategy is developed via a simple application of passivity and normalization. Saturated, Lipschitz continuous, time-varying feedback laws are obtained and illustrated in a number of compelling simulations. (C) 2001 Elsevier Science B.V. All rights reserved.

引用

页码：327 / 332

页数：6

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