2015年10月3日
Invariant manifold-based stabilizing controllers for nonholonomic mobile robots
Artificial Life and Robotics
- ,
- ,
- ,
- 巻
- 20
- 号
- 3
- 開始ページ
- 276
- 終了ページ
- 284
- 記述言語
- 英語
- 掲載種別
- DOI
- 10.1007/s10015-015-0219-8
- 出版者・発行元
- Springer-Verlag Tokyo
The problem of designing a stabilizing controller for point-to-point control of a four-wheeled mobile robot is considered in this study. The stability of the proposed control system is analyzed using Lyapunov theory. Firstly, a four-wheeled mobile robot which is an under-actuated system with two inputs is considered as a controlled object. Then, the switching and non-switching control methods based on an invariant manifold theory are proposed for stabilizing it in the desired position and orientation, where a chained form model is assumed to be used as a canonical model. Finally, simulation results are given to illustrate the effectiveness of the proposed method.
- ID情報
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- DOI : 10.1007/s10015-015-0219-8
- ISSN : 1614-7456
- ISSN : 1433-5298
- SCOPUS ID : 84942981450