A discontinuous control of a nonholonomic wheeled mobile robot

A discontinuous control of a nonholonomic wheeled mobile robot

As is well known, the class of nonholonomic systems cannot be asymptotically stabilized using continuous static state feedback controls. In this paper a discontinuous control system is proposed for a wheeled mobile robot which is known as a nonholonomic system. The parameters of the controller, whic...

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Bibliographische Detailangaben
Hauptverfasser: Sam Chau Duong, Kinjo, H., Uezato, E., Yamamoto, T.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Computational intelligence
Control system synthesis
Control systems
control with constraints
discontinuous control
genetic algorithm
Genetic algorithms
Mobile robots
Nonholonomic system
Nonlinear control systems
Robot control
State feedback
Vehicle dynamics
wheeled mobile robot
Wheels
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Beschreibung
Zusammenfassung:As is well known, the class of nonholonomic systems cannot be asymptotically stabilized using continuous static state feedback controls. In this paper a discontinuous control system is proposed for a wheeled mobile robot which is known as a nonholonomic system. The parameters of the controller, which are defined in the form of a step function, are optimized by genetic algorithm (GA). In order to make the problem more feasible, constraints are applied to the system velocities and position. Simulation results with different initial system configurations show that the controller could generate piecewise continuous inputs to control the system effectively within the given constraints.