Saturated stabilization and tracking of a nonholonomic mobile robot

Zhong Ping Jiang; Erjen Lefeber; Henk Nijmeijer

doi:10.1016/S0167-6911(00)00104-3

Saturated stabilization and tracking of a nonholonomic mobile robot

Zhong Ping Jiang, Erjen Lefeber, Henk Nijmeijer

Electrical and Computer Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

This paper presents a framework to deal with the problem of global stabilization and global tracking control for the kinematic model of a wheeled mobile robot in the presence of input saturations. A model-based control design strategy is developed via a simple application of passivity and normalization. Saturated, Lipschitz continuous, time-varying feedback laws are obtained and illustrated in a number of compelling simulations.

Original language	English (US)
Pages (from-to)	327-332
Number of pages	6
Journal	Systems and Control Letters
Volume	42
Issue number	5
DOIs	https://doi.org/10.1016/S0167-6911(00)00104-3
State	Published - 2001

Keywords

Input saturation
Nonholonomic mobile robot
Stabilization
Tracking

ASJC Scopus subject areas

Control and Systems Engineering
General Computer Science
Mechanical Engineering
Electrical and Electronic Engineering

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10.1016/S0167-6911(00)00104-3

Cite this

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title = "Saturated stabilization and tracking of a nonholonomic mobile robot",

abstract = "This paper presents a framework to deal with the problem of global stabilization and global tracking control for the kinematic model of a wheeled mobile robot in the presence of input saturations. A model-based control design strategy is developed via a simple application of passivity and normalization. Saturated, Lipschitz continuous, time-varying feedback laws are obtained and illustrated in a number of compelling simulations.",

keywords = "Input saturation, Nonholonomic mobile robot, Stabilization, Tracking",

author = "Jiang, {Zhong Ping} and Erjen Lefeber and Henk Nijmeijer",

note = "Funding Information: This work was supported partially by a start-up grant from Polytechnic University and partially by NSF Grant INT-9987317. ",

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T1 - Saturated stabilization and tracking of a nonholonomic mobile robot

AU - Jiang, Zhong Ping

AU - Lefeber, Erjen

AU - Nijmeijer, Henk

N1 - Funding Information: This work was supported partially by a start-up grant from Polytechnic University and partially by NSF Grant INT-9987317.

PY - 2001

Y1 - 2001

N2 - This paper presents a framework to deal with the problem of global stabilization and global tracking control for the kinematic model of a wheeled mobile robot in the presence of input saturations. A model-based control design strategy is developed via a simple application of passivity and normalization. Saturated, Lipschitz continuous, time-varying feedback laws are obtained and illustrated in a number of compelling simulations.

AB - This paper presents a framework to deal with the problem of global stabilization and global tracking control for the kinematic model of a wheeled mobile robot in the presence of input saturations. A model-based control design strategy is developed via a simple application of passivity and normalization. Saturated, Lipschitz continuous, time-varying feedback laws are obtained and illustrated in a number of compelling simulations.

KW - Input saturation

KW - Nonholonomic mobile robot

KW - Stabilization

KW - Tracking

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DO - 10.1016/S0167-6911(00)00104-3

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VL - 42

SP - 327

EP - 332

JO - Systems and Control Letters

JF - Systems and Control Letters

IS - 5

ER -

Saturated stabilization and tracking of a nonholonomic mobile robot

Abstract

Keywords

ASJC Scopus subject areas

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