DocumentCode
3071097
Title
ϵ-stabilization of chained systems with input constraints
Author
Wang, Chmli ; Huo, Wei ; Dong, Wenjje
Author_Institution
Seventh Res. Div., Beijing Univ. of Aeronaut. & Astronaut., China
Volume
6
fYear
1999
fDate
1999
Firstpage
3950
Abstract
Investigates the control problem of chained systems with input constraints. A new controller is presented, which can stabilize the system to an arbitrarily small ε-neighborhood of its equilibrium in a finite time. This is achieved by the sliding mode approach and a multi-step control strategy. The application of it to a nonholonomic wheeled mobile robot is described. A simulation result shows that the proposed controller is effective
Keywords
control system synthesis; kinematics; mobile robots; stability; variable structure systems; ϵ-stabilization; chained systems; input constraints; multi-step control strategy; nonholonomic wheeled mobile robot; sliding mode approach; Automobiles; Control system synthesis; Control systems; Kinematics; Mobile robots; Orbital robotics; Sliding mode control; State feedback; Sufficient conditions; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1999. Proceedings of the 1999
Conference_Location
San Diego, CA
ISSN
0743-1619
Print_ISBN
0-7803-4990-3
Type
conf
DOI
10.1109/ACC.1999.786258
Filename
786258
Link To Document