Stabilization Control of Nonholonomic Wheeled Mobile Service Robots
2009 ◽
Vol 419-420
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pp. 593-596
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Nonholonomic wheeled mobile service robot’s posture error model denoted by polar coordinates in global coordinates is established .Based on the inherent discontinuousness of the closed-loop system model, a novel nonlinear state feedback stabilization control law is proposed,which causes closed-loop system state space equation of robot to have isolated equilibrium state at origin. By Lyapunov candidate function method,this paper concludes that the closed-loop system is global uniformly asymptotically stable at origin. Simulation results indicate that the proposed control law is effective.
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2005 ◽
Vol 128
(2)
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pp. 453-457
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2013 ◽
Vol 421
◽
pp. 16-22
2017 ◽
Vol 232
(9)
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pp. 1655-1670
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