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Robust Stabilization for a Class of Dynamic Feedback Uncertain Nonholonomic Mobile Robots with Input Saturation

Hua Chen
International Journal of Control, Automation, and Systems, vol. 12, no. 6, pp.1216-1224, 2014

Abstract : In this paper, the robust stabilization problem is addressed for a class of dynamic feedback uncertain nonholonomic mobile robots with input saturation. Firstly, a continuous, time varying, saturated controller is presented for the kinematic system of the robots. Secondly, for the dynamic feedback system, a special derivable, saturated kinematic controller with slope restrictions is selected as a virtual control law that can be tracked by the real generalized velocity in a finite time, furthermore, the dynamic input signals are continuous and saturated at any time. The systematic strategy combines the theory of finite-time stability with the virtual-controller-tracked method. Finally, the simulation results show the effectiveness of the proposed controller design approach.

Keyword : Dynamic feedback, input saturation, nonholonomic mobile robots, robust stabilization.

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