Further Results of Semiglobal Saturated Stabilization for Nonholonomic Mobile Robots
Compared with 1,further results of semiglobal pracitical stabilization for a class of uncertain nonholonomic mobile robots with input saturation is considered in this paper.Based on a new switching control design strategy,the saturated stabilized controller is presented in the presence of parametric uncertainties and angle measurement disturbance.Under the proposed controller,it is rigorously proved that all the states of the closed loop system can be stabilized to an arbitrarily prescribed small neighborhood of the origin.Finally,a numerical example illustrate the effectiveness of the control design method.
Nonholonomic mobile robots uncertain parameters angle measurement disturbance input saturation switching control
Hua Chen Junfeng Chen Yan Lei Weixu Chen Yawei Wang
Mathematics and Physics Department,Hohai University,Changzhou Campus,213022,PRC College of IOT Engineering,Hohai University,Changzhou Campus,213022,PRC
国际会议
长沙
英文
4545-4550
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）