A universal saturation controller design for mobile robots

K. D. Do; Z. P. Jiang; J. Pan

A universal saturation controller design for mobile robots

K. D. Do, Z. P. Jiang, J. Pan

Electrical and Computer Engineering

Research output: Contribution to journal › Conference article › peer-review

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.

Original language	English (US)
Pages (from-to)	2044-2049
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
Volume	2
State	Published - 2002
Event	41st IEEE Conference on Decision and Control - Las Vegas, NV, United States Duration: Dec 10 2002 → Dec 13 2002

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Cite this

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title = "A universal saturation controller design for mobile robots",

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.",

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journal = "Proceedings of the IEEE Conference on Decision and Control",

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M3 - Conference article

AN - SCOPUS:0036990403

SN - 0191-2216

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JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

T2 - 41st IEEE Conference on Decision and Control

Y2 - 10 December 2002 through 13 December 2002

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A universal saturation controller design for mobile robots

Abstract

ASJC Scopus subject areas

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