DocumentCode
391330
Title
A universal saturation controller design for mobile robots
Author
Do, K.D. ; Jiang, Z.-P. ; Pan, J.
Author_Institution
Dept. of Electr. & Comput. Eng., Polytech. Univ., NY, USA
Volume
2
fYear
2002
fDate
10-13 Dec. 2002
Firstpage
2044
Abstract
We propose a global time-varying universal controller to achieve stabilization and tracking simultaneously for mobile robots with saturated inputs. The controller synthesis is based on Lyapunov´s direct method and backstepping technique. Numerical simulations are provided to validate the effectiveness of the proposed controller.
Keywords
Lyapunov methods; mobile robots; stability; time-varying systems; Lyapunov direct method; backstepping technique; controller synthesis; mobile robots; numerical simulations; time-varying universal controller; universal saturation controller design; Angular velocity; Control system synthesis; Control systems; Feedback control; Kinematics; Mechanical engineering; Mechanical systems; Mobile robots; Motion control; Numerical simulation;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7516-5
Type
conf
DOI
10.1109/CDC.2002.1184830
Filename
1184830
Link To Document