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Research Papers

Semiglobal Stabilization for Nonholonomic Mobile Robots Based on Dynamic Feedback With Inputs Saturation

[+] Author and Article Information
Hua Chen

Control Science and Engineering Department,  University of Shanghai for Science and Technology, Shanghai 200093, P. R. C.; Mathematics and Physics Department,  Hohai University, Changzhou Campus, Changzhou 213022, P. R. C.chenhua112@163.com

Chaoli Wang1

Control Science and Engineering Department,  University of Shanghai for Science and Technology, Shanghai 200093, P. R. C.clclwang@126.com

Liu Yang

College of Science,  University of Shanghai for Science and Technology, Shanghai 200093, P. R. C.

Dongkai Zhang

Control Science and Engineering Department,  University of Shanghai for Science and Technology, Shanghai 200093, P. R. C.

1

Corresponding author.

J. Dyn. Sys., Meas., Control 134(4), 041006 (Apr 27, 2012) (8 pages) doi:10.1115/1.4006076 History: Received December 22, 2010; Revised December 15, 2011; Published April 26, 2012; Online April 27, 2012

This paper investigates the semiglobal stabilization problem for nonholonomic mobile robots based on dynamic feedback with inputs saturation. A bounded, continuous, time-varying controller is presented such that the closed-loop system is semiglobally asymptotically stable. The systematic strategy combines finite-time control technique with the virtual-controller-tracked method, which is similar to the back-stepping procedure. First, the bound-constrained smooth controller is presented for the kinematic model. Second, the dynamic feedback controller is designed to make the generalized velocity converge to the prespecified kinematic (virtual) controller in a finite time. Furthermore, the rigorous proof is given for the stability analysis of the closed-loop system. In the mean time, the position and torque inputs of robots are proved to be bounded at any time. Finally, the simulation results show the effectiveness of the proposed control approach.

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Copyright © 2012 by American Society of Mechanical Engineers
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Grahic Jump Location
Figure 1

Nonholonomic wheeled mobile robot

Grahic Jump Location
Figure 3

Auxiliary state variables

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