Saturated stabilization and tracking of a nonholonomic mobile robot

Zhong-Ping Jiang, Erjen Lefeber, Henk Nijmeijer

Research output: Contribution to journalArticle

Abstract

This paper presents a framework to deal with the problem of global stabilization and global tracking control for the kinematic model of a wheeled mobile robot in the presence of input saturations. A model-based control design strategy is developed via a simple application of passivity and normalization. Saturated, Lipschitz continuous, time-varying feedback laws are obtained and illustrated in a number of compelling simulations.

Original languageEnglish (US)
Pages (from-to)327-332
Number of pages6
JournalSystems and Control Letters
Volume42
Issue number5
DOIs
StatePublished - 2001

Fingerprint

Mobile robots
Stabilization
Kinematics
Feedback

Keywords

  • Input saturation
  • Nonholonomic mobile robot
  • Stabilization
  • Tracking

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Saturated stabilization and tracking of a nonholonomic mobile robot. / Jiang, Zhong-Ping; Lefeber, Erjen; Nijmeijer, Henk.

In: Systems and Control Letters, Vol. 42, No. 5, 2001, p. 327-332.

Research output: Contribution to journalArticle

Jiang, Zhong-Ping ; Lefeber, Erjen ; Nijmeijer, Henk. / Saturated stabilization and tracking of a nonholonomic mobile robot. In: Systems and Control Letters. 2001 ; Vol. 42, No. 5. pp. 327-332.
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