Saturated stabilization and tracking of a nonholonomic robot

Z.P. Jiang; A.A.J. Lefeber; H. Nijmeijer

doi:10.1016/S0167-6911(00)00104-3

Saturated stabilization and tracking of a nonholonomic robot

Z.P. Jiang, A.A.J. Lefeber, H. Nijmeijer

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Abstract

This paper presents a framework to deal with the problem of global stabilization and global tracking control for the kinematic model of a wheeled mobile robot in the presence of input saturations. A model-based control design strategy is developed via a simple application of passivity and normalization. Saturated, Lipschitz continuous, time-varying feedback laws are obtained and illustrated in a number of compelling simulations.

Original language	English
Pages (from-to)	327-332
Journal	Systems and Control Letters
Volume	42
Issue number	5
DOIs	https://doi.org/10.1016/S0167-6911(00)00104-3
Publication status	Published - 2001

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title = "Saturated stabilization and tracking of a nonholonomic robot",

abstract = "This paper presents a framework to deal with the problem of global stabilization and global tracking control for the kinematic model of a wheeled mobile robot in the presence of input saturations. A model-based control design strategy is developed via a simple application of passivity and normalization. Saturated, Lipschitz continuous, time-varying feedback laws are obtained and illustrated in a number of compelling simulations.",

author = "Z.P. Jiang and A.A.J. Lefeber and H. Nijmeijer",

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T1 - Saturated stabilization and tracking of a nonholonomic robot

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AU - Lefeber, A.A.J.

AU - Nijmeijer, H.

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AB - This paper presents a framework to deal with the problem of global stabilization and global tracking control for the kinematic model of a wheeled mobile robot in the presence of input saturations. A model-based control design strategy is developed via a simple application of passivity and normalization. Saturated, Lipschitz continuous, time-varying feedback laws are obtained and illustrated in a number of compelling simulations.

U2 - 10.1016/S0167-6911(00)00104-3

DO - 10.1016/S0167-6911(00)00104-3

M3 - Article

SN - 0167-6911

VL - 42

SP - 327

EP - 332

JO - Systems and Control Letters

JF - Systems and Control Letters

IS - 5

ER -

Saturated stabilization and tracking of a nonholonomic robot

Abstract

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