Stabilization Control of Nonholonomic Wheeled Mobile Service Robots

Abstract:

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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 and 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

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Price:

$35.00

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