Paper Title:
Stabilization Control of Nonholonomic Wheeled Mobile Service Robots
  Abstract

Nonholonomic wheeled mobile service robot’s posture error model denoted by polar coordinates in global coordinates is established .Based on the inherent discontinuousness of the closed-loop system model, a novel nonlinear state feedback stabilization control law is proposed,which causes closed-loop system state space equation of robot to have isolated equilibrium state at origin. By Lyapunov candidate function method,this paper concludes that the closed-loop system is global uniformly asymptotically stable at origin. Simulation results indicate that the proposed control law is effective.

  Info
Periodical
Key Engineering Materials (Volumes 419-420)
Edited by
Daizhong Su, Qingbin Zhang and Shifan Zhu
Pages
593-596
DOI
10.4028/www.scientific.net/KEM.419-420.593
Citation
J. Chang, Q. X. Meng, "Stabilization Control of Nonholonomic Wheeled Mobile Service Robots", Key Engineering Materials, Vols. 419-420, pp. 593-596, 2010
Online since
October 2009
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Cheng Hua Fan, Xiao Zhang Cheng, Xian Wei Jiang
Chapter 10: Environmentally Sustainable Manufacturing Processes and Systems
Abstract:This paper presents a novel means of designing a nonlinear controller for Permanent Magnet Synchronous Motor (PMSM) based on the method of...
3186
Authors: Shuai Tian He, Zhi Chang Li
Chapter 1: Mechatronics, Control and Management, Measurement and Instrumentation, Monitoring Technologies
Abstract:The stability analysis and controller design of discrete linear systems with time-varying delay are addressed. Firstly, the uniformly...
695