Invariant manifold-based stabilizing controllers for nonholonomic mobile robots

Artificial Life and Robotics - Tập 20 - Trang 276-284 - 2015
Yin Yin Aye1, Keigo Watanabe1, Shoichi Maeyama1, Isaku Nagai
1Okayama University, Okayama, Japan

Tóm tắt

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.

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Tài liệu tham khảo

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Thông tin xuất bản

Artificial Life and Robotics

Tập 20

276-284

Thông tin tác giả