Time Invariant Global Stabilization of a Mobile Robot

1998 ◽  
pp. 235-240
Author(s):  
Harald Abeßer ◽  
Michael Katzschmann ◽  
Joachim Steigenberger
Keyword(s):  
Mobile Robot ◽  
Global Stabilization ◽  
Time Invariant

scholarly journals An Adaptive Control Scheme for Nonholonomic Mobile Robot with Parametric Uncertainty

10.5772/5801 ◽  
2005 ◽  
Vol 2 (1) ◽  
pp. 8 ◽  
Author(s):  
F. Mnif ◽  
F. Touati
Keyword(s):  
Mobile Robot ◽  
Parametric Uncertainty ◽  
Lyapunov Stability Theory ◽  
Original System ◽  
Stability And Convergence ◽  
Nonholonomic Mobile Robot ◽  
Control Scheme ◽  
The Stability ◽  
Invariant Control ◽  
Time Invariant

This paper addresses the problem of stabilizing the dynamic model of a nonholonomic mobile robot. A discontinuous adaptive state feedback controller is derived to achieve global stability and convergence of the trajectories of the of the closed loop system in the presence of parameter modeling uncertainty. This task is achieved by a non smooth transformation in the original system followed by the derivation of a smooth time invariant control in the new coordinates. The stability and convergence analysis is built on Lyapunov stability theory.

Exponential Stabilization of a Wheeled Mobile Robot Via Discontinuous Control

1999 ◽  
Vol 121 (1) ◽  
pp. 121-126 ◽  
Author(s):  
A. Astolfi
Keyword(s):  
Mobile Robot ◽  
State Feedback ◽  
Wheeled Mobile Robot ◽  
State Feedback Control ◽  
Exponential Stabilization ◽  
Control Law ◽  
Model Errors ◽  
Closed Loop System ◽  
Noisy Measurements ◽  
Time Invariant

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.

A Continuous Control for Stabilizing the Extended Nonholonomic Double Integrator

2011 ◽  
Vol 464 ◽  
pp. 217-220
Author(s):  
Yan Peng ◽  
Mei Liu ◽  
Qing Jiu Huang ◽  
Shao Rong Xie
Keyword(s):  
Mobile Robot ◽  
Dimensional Space ◽  
Control Law ◽  
Continuous Control ◽  
Time Varying ◽  
Higher Dimensional ◽  
Control Scheme ◽  
And Performance ◽  
Time Invariant ◽  
Double Integrator

The extended nonholonomic double integrator (ENDI) cannot be asymptotically stabilized by a continuous and time-invariant feedback controller since it violates the Brockett’s condition. In this paper, a new continuous control scheme is proposed to stabilize the ENDI system without drift. The dynamics of an ENDI system is enlarged to a higher dimensional space where a continuous but time-varying control law is designed for its stabilization. Besides the theoretical proofs, simulations conducted on the dynamics of a mobile robot are also presented to demonstrate the validity and performance of the proposed method.

Fuzzy Control of Mobile Robot via Linear Time-Invariant Extreme Systems

1998 ◽  
Vol 31 (33) ◽  
pp. 31-35
Author(s):  
S. Bentalba ◽  
A. El Hajjaji ◽  
A. Rachid
Keyword(s):  
Fuzzy Control ◽  
Mobile Robot ◽  
Linear Time ◽  
Linear Time Invariant ◽  
Time Invariant
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