Semiglobal stabilization for nonholonomic mobile robots based on dynamic feedback with inputs saturation / Hua Chen in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 4 (Juillet 2012)  

Public ISBD [article]  inTransactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 4 (Juillet 2012) . - 08 p. Titre : Semiglobal stabilization for nonholonomic mobile robots based on dynamic feedback with inputs saturation Type de document : texte imprimé Auteurs : Hua Chen, Auteur ; Chaoli Wang, Auteur ; Liu Yang, Auteur Année de publication : 2012 Article en page(s) : 08 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Nanholonomic mobile robots Dynamic feedback Semiglobal stabilization Inputs saturation Index. décimale : 629.8 Résumé : This paper investigates the semiglobal stabilization problem for nonholonomic mobile robots based on dynamic feedback with inputs saturation. A bounded, continuous, time-varying controller is presented such that the closed-loop system is semiglobally asymptotically stable. The systematic strategy combines finite-time control technique with the virtual-controller-tracked method, which is similar to the back-stepping procedure. First, the bound-constrained smooth controller is presented for the kinematic model. Second, the dynamic feedback controller is designed to make the generalized velocity converge to the prespecified kinematic (virtual) controller in a finite time. Furthermore, the rigorous proof is given for the stability analysis of the closed-loop system. In the mean time, the position and torque inputs of robots are proved to be bounded at any time. Finally, the simulation results show the effectiveness of the proposed control approach. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000004 [...] [article] Semiglobal stabilization for nonholonomic mobile robots based on dynamic feedback with inputs saturation [texte imprimé] / Hua Chen, Auteur ; Chaoli Wang, Auteur ; Liu Yang, Auteur . - 2012 . - 08 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 4 (Juillet 2012) . - 08 p. Mots-clés : Nanholonomic mobile robots Dynamic feedback Semiglobal stabilization Inputs saturation Index. décimale : 629.8 Résumé : This paper investigates the semiglobal stabilization problem for nonholonomic mobile robots based on dynamic feedback with inputs saturation. A bounded, continuous, time-varying controller is presented such that the closed-loop system is semiglobally asymptotically stable. The systematic strategy combines finite-time control technique with the virtual-controller-tracked method, which is similar to the back-stepping procedure. First, the bound-constrained smooth controller is presented for the kinematic model. Second, the dynamic feedback controller is designed to make the generalized velocity converge to the prespecified kinematic (virtual) controller in a finite time. Furthermore, the rigorous proof is given for the stability analysis of the closed-loop system. In the mean time, the position and torque inputs of robots are proved to be bounded at any time. Finally, the simulation results show the effectiveness of the proposed control approach. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000004 [...]

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