Abstract

In this paper we design a position controller for an autonomous mobile robot, a nonlinear nonholonomic control system. The designed time invariant non smooth stabilizing control law assures limitation of the velocity inputs, human like driving behaviour and smooth trajectories. The global asymptotic stability of the closed loop system is proved using the Lyapunov stability theory and the In-variance Principle of La Salle and Lefschetz. Moreover a real time software environment is developed for implementing the designed controller on a real platform, which is in our case the autonomous mobile robot B21 from Real World Interface (RWI). Experimental results demonstrate the excellent performance of the designed contoller.

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

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.