Simultaneous Stabilization and Tracking of Wheeled Mobile Robots via Chained Form

被引：0
|
作者：
Wang, Yaonan [1 ]
Miao, Zhiqiang [1 ]
Chen, Yanjie [1 ]
机构：
[1] Hunan Univ, Coll Elect & Informat Engn, Changsha 410082, Hunan, Peoples R China
来源：
11TH IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA) | 2014年
关键词：
EXPONENTIAL TRACKING; SYSTEMS;
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：
A time-varying controller is proposed to simultaneously solve the stabilization and the tracking problem of wheeled mobile robots via their equivalent chained form. The control is designed based on Lyapunov's direct method and the backstepping technique. The outstanding feature of the proposed controller is computationally simple due to its full use of the existing results on stabilization and tracking control for the equivalent chained form systems of wheeled mobile robots. Simulation results for a wheeled mobile robot are provided to illustrate the effectiveness of the proposed controller.
引用
收藏
页码：643 / 648
页数：6
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