A novel global tracking control method for mobile robots

Author

Wu Weiguo ; Chen, Huitang ; Wang, Yuejuan

Author_Institution

Dept. of Electr. Eng., Tongji Univ., Shanghai, China

Volume

2

fYear

1999

fDate

1999

Firstpage

623

Abstract

Concerns trajectory tracking control of mobile robots. In order to overcome the local stability resulting from design methods adapted from linearization, a global asymptotic stable controller, which both achieves global stability margin and avoids winding phenomenon, is designed using a backstepping method. This method breaks down nonlinear systems into low dimensional systems and simplifies the controller design using virtual control inputs and partial Lyapunov functions. The stability of the system is easily proven via the Lyapunov function. Abundant simulation results validate the theoretical analysis

Keywords

Lyapunov methods; asymptotic stability; control system synthesis; mobile robots; nonlinear control systems; position control; backstepping method; global asymptotic stable controller; global tracking control method; low dimensional systems; partial Lyapunov functions; trajectory tracking control; virtual control inputs; Asymptotic stability; Backstepping; Control systems; Design methodology; Lyapunov method; Mobile robots; Nonlinear control systems; Nonlinear systems; Robot control; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on

Conference_Location

Kyongju

Print_ISBN

0-7803-5184-3

Type

conf

DOI

10.1109/IROS.1999.812748

Filename

812748