A universal saturation controller design for mobile robots

被引：0
|
作者：
Do, KD [1 ]
Jiang, ZP [1 ]
Pan, J [1 ]
机构：
[1] Polytech Univ, Dept Elect & Comp Engn, Brooklyn, NY 11201 USA
来源：
PROCEEDINGS OF THE 41ST IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4 | 2002年
关键词：
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：
We propose a global time-varying universal controller to achieve stabilization and tracking simultaneously for mobile robots with saturated inputs. The controller synthesis is based on Lyapunov's direct method and backstepping technique. Numerical simulations are provided to validate the effectiveness of the proposed controller.
引用
收藏
页码：2044 / 2049
页数：6
相关论文
共 50 条
  • [21] Design of fuzzy tracking controller of mobile robots with 3 degrees of freedom
    Li, Yan
    Gao, Feng
    Lin, Tingqi
    Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University, 2004, 38 (05): : 521 - 524
  • [22] Teleoperation controller architecture for mobile robots
    Negrescu, Ctin
    Postelnicescu, D.M.
    UPB Scientific Bulletin, Series C: Electrical Engineering, 2008, 70 (01): : 77 - 86
  • [23] TELEOPERATION CONTROLLER ARCHITECTURE FOR MOBILE ROBOTS
    Negrescu, Ctin
    Postelnicescu, D. M.
    UNIVERSITY POLITEHNICA OF BUCHAREST SCIENTIFIC BULLETIN SERIES C-ELECTRICAL ENGINEERING AND COMPUTER SCIENCE, 2008, 70 (01): : 77 - 86
  • [24] Robust Controller for Wheeled Mobile Robots
    Chalhoub, Nabil G.
    Matta, Sherif M. A.
    2012 AMERICAN CONTROL CONFERENCE (ACC), 2012, : 5011 - 5016
  • [25] Universal Systems of Oblivious Mobile Robots
    Flocchini, Paola
    Santoro, Nicola
    Viglietta, Giovanni
    Yamashita, Masafumi
    Structural Information and Communication Complexity, SIROCCO 2016, 2016, 9988 : 242 - 257
  • [26] Convergence Analysis and Controller Design for a Team of Mobile Robots Subject to Measurement Error
    Golkar, Mahsa A.
    Momeni, Ahmadreza
    Moezzi, Kaveh
    Aghdam, Amir G.
    Mantegh, Iraj
    2011 AMERICAN CONTROL CONFERENCE, 2011, : 3350 - 3356
  • [27] Analysis and design of non-time based motion controller for mobile robots
    Kang, W
    Xi, N
    Tan, JD
    ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, 1999, : 2964 - 2969
  • [28] A linear-interpolation-based controller design for trajectory tracking of mobile robots
    Scaglia, Gustavo
    Rosales, Andres
    Quintero, Lucia
    Mut, Vicente
    Agarwal, Ravi
    CONTROL ENGINEERING PRACTICE, 2010, 18 (03) : 318 - 329
  • [29] Controller Design for Wheeled Mobile Robots Using A Finite Frequency Domain Approach
    Li, Hui
    Peng, Liyuan
    Song, Pei
    Ju, Hehua
    PROCEEDINGS OF THE 2012 24TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2012, : 4130 - 4135
  • [30] A universal λ-tracking controller for mobile manipulators
    Mazur, A
    ROMOCO'01: PROCEEDINGS OF THE SECOND INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL, 2001, : 153 - 159
12345