Saturated stabilization and tracking of a nonholonomic robot

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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 languageEnglish
Pages (from-to)327-332
JournalSystems and Control Letters
Volume42
Issue number5
DOIs
Publication statusPublished - 2001

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