Switched control of a nonholonomic mobile robot |
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Authors: | V Sankaranarayanan Arun D Mahindrakar |
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Institution: | 1. College of Defense Engineering, PLA University of Science and Technology, Nanjing 210007, PR China;2. School of Automation, Nanjing University of Science and Technology, Nanjing 210094, PR China |
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Abstract: | We present a switched control algorithm to stabilize a car-like mobile robot which possesses velocity level nonholonomic constraint. The control approach rests on splitting the system into several second-order subsystems and then stabilizing the system sequentially using finite-time controllers, finally resulting in the mobile robot being moved from one point to another point. State dependent switching control is employed in which the controllers switches on a thin surface in the state-space. Robustness analysis is presented by redefining the switching signal using relaxed switching surface. Both, non-robust and robust controllers are validated through numerical simulation. |
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