Title :
Backstepping control with sum of squares design for omni-directional mobile robots
Author :
Chen, Shun-Hung ; Juang, Jyh-Ching ; Su, Sin-Hwa
Author_Institution :
Dept. of Electr. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan
Abstract :
This paper presents a backstepping control method using sum of squares (SOS) technique to synthesize a nonlinear controller for a three wheels omni-directional mobile robot. The characteristic of strict-feedback systems is also applied to construct the backstepping controller. The controller design satisfies the Lyapunov direct method and LaSalle-Yoshizawa theorem so that the stability of control systems can be assured. Subsequently, the sum of squares conditions are developed to constraint the performances such that the backstepping controller is optimal. Computer simulations and experimental results for mobile robots demonstrate the effectiveness of the proposed backstepping controller.
Keywords :
Lyapunov methods; control nonlinearities; control system synthesis; feedback; mobile robots; nonlinear control systems; stability; wheels; LaSalle-Yoshizawa theorem; Lyapunov direct method; backstepping control; control system stability; nonlinear controller synthesis; strict-feedback system; sum-of-squares design; wheeled omni-directional mobile robot; Algorithm design and analysis; Backstepping; Computer simulation; Control system synthesis; Control systems; Mobile robots; Optimal control; Sliding mode control; Stability; Wheels;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3