Simultaneous Stabilization and Tracking of Nonholonomic WMRs With Input Constraints: Controller Design and Experimental Validation
Considering input constraints and parameter uncertainty of the nonholonomic wheeled mobile robots, a new control law has been designed in this paper to solve the tracking and stabilization control problems simultaneously. The asymptotic convergence of the stabilization or tracking errors is achieved...
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| Veröffentlicht in: | IEEE transactions on industrial electronics (1982) 2019-07, Vol.66 (7), p.5343-5352 |
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| container_issue | 7 |
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| container_title | IEEE transactions on industrial electronics (1982) |
| container_volume | 66 |
| creator | Wang, Zhuping Li, Gangbin Chen, Xiaozhen Zhang, Hao Chen, Qijun |
| description | Considering input constraints and parameter uncertainty of the nonholonomic wheeled mobile robots, a new control law has been designed in this paper to solve the tracking and stabilization control problems simultaneously. The asymptotic convergence of the stabilization or tracking errors is achieved by a smooth controller with time-varying feedback parameters subject to set conditions. A geometric-based parameter design strategy is employed to overcome the difficulties resulting from input constraints. With the parameter design strategy, the designed parameters satisfy the set conditions and the control inputs stay in the constrained domain. Experimental studies have been conducted to verify the effectiveness of the proposed control law. |
| doi_str_mv | 10.1109/TIE.2018.2870350 |
| format | Article |
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| source | IEEE |
| subjects | Actuators Input constraints Kinematics Mathematical model nonholonomic system Robustness stabilization system uncertainty Trajectory tracking Uncertainty Wheels |
| title | Simultaneous Stabilization and Tracking of Nonholonomic WMRs With Input Constraints: Controller Design and Experimental Validation |
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