Abstract
This paper addresses the problem of stabilizing the dynamic model of a nonholonomic mobile robot. A discontinuous adaptive state feedback controller is derived to achieve global stability and convergence of the trajectories of the of the closed loop system in the presence of parameter modeling uncertainty. This task is achieved by a non smooth transformation in the original system followed by the derivation of a smooth time invariant control in the new coordinates. The stability and convergence analysis is built on Lyapunov stability theory.
Highlights
In the past few years, a considerable interest has motivated researchers in the analysis and control design of underactuated and nonholonomic systems
Wheeled mobile robots (WMRs) are increasingly present in industrial and service robotics, when flexible motion capabilities are required on reasonably smooth ground and surfaces [1]
The peculiar nature of nonholonomic kinematics makes the control problem easier than the first; it is known [4], that feedback stabilization at a given posture cannot be achieved via smooth time invariant control
Summary
In the past few years, a considerable interest has motivated researchers in the analysis and control design of underactuated and nonholonomic systems. The peculiar nature of nonholonomic kinematics makes the control problem easier than the first; it is known [4], that feedback stabilization at a given posture cannot be achieved via smooth time invariant control This indicates that the problem is really nonlinear; linear control is ineffective, even locally, and innovative design is required. A simple discontinuous adaptive state feedback controller that yields global convergence of the closed loop system in the presence of parametric modeling uncertainty is derived This is achieved by resorting to a polar representation of the kinematic model of the mobile robot in the original state space followed by the derivation of a smooth time invariant control law in the new coordinates
Sign-in/Register to view highlights & summary 
Published Version (
Free)
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call