A universal saturation controller design for mobile robots

K. D. Do, Zhong-Ping Jiang, J. Pan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We propose a global time-varying universal controller to achieve stabilization and tracking simultaneously for mobile robots with saturated inputs. The controller synthesis is based on Lyapunov's direct method and backstepping technique. Numerical simulations are provided to validate the effectiveness of the proposed controller.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages2044-2049
Number of pages6
Volume2
StatePublished - 2002
Event41st IEEE Conference on Decision and Control - Las Vegas, NV, United States
Duration: Dec 10 2002Dec 13 2002

Other

Other41st IEEE Conference on Decision and Control
CountryUnited States
CityLas Vegas, NV
Period12/10/0212/13/02

Fingerprint

Mobile robots
Controllers
Backstepping
Stabilization
Computer simulation

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

Cite this

Do, K. D., Jiang, Z-P., & Pan, J. (2002). A universal saturation controller design for mobile robots. In Proceedings of the IEEE Conference on Decision and Control (Vol. 2, pp. 2044-2049)

A universal saturation controller design for mobile robots. / Do, K. D.; Jiang, Zhong-Ping; Pan, J.

Proceedings of the IEEE Conference on Decision and Control. Vol. 2 2002. p. 2044-2049.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Do, KD, Jiang, Z-P & Pan, J 2002, A universal saturation controller design for mobile robots. in Proceedings of the IEEE Conference on Decision and Control. vol. 2, pp. 2044-2049, 41st IEEE Conference on Decision and Control, Las Vegas, NV, United States, 12/10/02.
Do KD, Jiang Z-P, Pan J. A universal saturation controller design for mobile robots. In Proceedings of the IEEE Conference on Decision and Control. Vol. 2. 2002. p. 2044-2049
Do, K. D. ; Jiang, Zhong-Ping ; Pan, J. / A universal saturation controller design for mobile robots. Proceedings of the IEEE Conference on Decision and Control. Vol. 2 2002. pp. 2044-2049
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