Discontinuous control for the parking problem of a mobile robot with four steering wheels

被引：0
|
作者：
Petrov, Plamen [1 ]
Boumbarov, Ognian [1 ]
Bekyarski, Alexander [1 ]
机构：
[1] Tech Univ, Fac Commun & Commun Technol, Kl Ohridski 8, Sofia 1000, Bulgaria
来源：
PROCEEDINGS OF THE 7TH WSEAS INTERNATIONAL CONFERENCE ON SIGNAL PROCESSING, ROBOTICS AND AUTOMATION: ADVANCED TOPICS ON SIGNAL PROCESSING, ROBOTICS AND AUTOMATION | 2008年
关键词：
nonholonomice mobile robot; four-wheel steering; posture stabilization; discontinuous nonlinear control; polar coordinates; STABILIZATION;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes a discontinuous time- invariant controller for the parking problem of a four-wheel-steering (4WS) mobile robot. Using non smooth coordinate transformation based on a polar representation of the kinematic model, the control law is constructed via Lyapunov-based techniques yielding exponential stability of the closed-loop system. Simulation results illustrate the effectiveness of the proposed controller.
引用
收藏
页码：20 / +
页数：2
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