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
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