Title :
Robust Stabilization of Kinematic Systems of Uncertain Nonholonomic Mobile Robots
Author :
Li, Chuanfeng ; Wang, Chaoli
Author_Institution :
Fac. of Electr. Eng., Univ. of Shanghai for Sci. & Technol.
Abstract :
In this paper, a smooth time-varying controller is proposed for the stabilization of a mobile robot with two driving wheels mounted on the same axis and a distance between the mass center and the geometrical center. An robust controller is also investigated for the case that the robot geometric parameters are unknown. It is proved that the proposed controller can exponentially stabilize the wheeled mobile robot. Simulations illustrate the effectiveness of the proposed controllers
Keywords :
mobile robots; robot kinematics; robust control; time-varying systems; uncertain systems; exponential stabilization; kinematic systems; mobile robots; robust stabilization; smooth time varying controller; uncertain nonholonomic system; Automation; Chaos; Intelligent control; Kinematics; Mobile robots; Robust control; Robustness; Weight control; Wheels; exponential stabilization; nonholonomic system; robust control; wheeled mobile robot;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1712525
