Title :
Practical stabilization of a mobile robot using saturated control
Author :
Evers, Willem-Jan ; Nijmeijer, Henk
Author_Institution :
Dept. of Mech. Eng., Technische Universiteit Eindhoven
Abstract :
This paper presents a new, practically stabilizing, hybrid control algorithm for a unicycle type of mobile robot. The design of this algorithm is based on a set of performance requirements and it is tested numerically and experimentally. The resulting controller is compared to three other recently developed controllers, considering (a limited amount of) measurement and input time-delays, model deviations, parameter uncertainty and measurement noise
Keywords :
control nonlinearities; control system synthesis; delays; mobile robots; stability; uncertain systems; hybrid control algorithm; measurement noise; mobile robot; model deviations; parameter uncertainty; saturated control; stabilization; time-delays; unicycle type; Asymptotic stability; Fuels; Mobile robots; Noise measurement; Open loop systems; Robot control; State feedback; Testing; USA Councils; Wheels;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.377359
