|
Published Articles >> Table of Contents >> Abstract
Sixth International Conference on Intelligent Systems Design and Applications (ISDA'06)
pp. 126-131
Robust Stabilization of Wheeled Mobile Robots Moving on Uncertain Uneven Surface
Xiaocai Zhu, National University of Defense Technology, China
Guohua Dong, National University of Defense Technology, China
Dewen Hu, National University of Defense Technology, China
Zixing Cai, Central South University, China
Full Article Text:
 
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/ISDA.2006.43
Send link to a friend
| Abstract |
|
A solution is presented to the robust control
problem of wheeled mobile robots moving on an uneven surface
that is not exactly known. Quadratic surface with unknown but
bounded coefficients is utilized to locally approximate the uneven
surface. The design procedure is based on the transverse function
method, integrator backstepping, and Lyapunov redesign
technique. After exploring the left-invariance property of the
kinematic subsystem of the wheeled mobile robots with respect to
the standard group operation of the Lie group SE(2), we use
transverse function to derive smooth "virtual" control laws
which render the error subsystem exponentially stable. Then, the
integrator backstepping technique is applied to the nominal
dynamic system due to the smoothness of the "virtual" control
laws. Finally, a Lyapunov redesign component is constructed to
handle the gravity disturbance caused by the surface. Driven by
the proposed control laws, the wheeled mobile robot has the
ability to adapt to varying uneven surface condition. Some
simulations are provided to validate the effectiveness of the
algorithm.
|
 Additional Information
|
Index Terms- Wheeled mobile robots. Lie group. Transverse
function. Backstepping. Robust stabilization.
Citation:
Xiaocai Zhu, Guohua Dong, Dewen Hu, Zixing Cai,
"Robust Stabilization of Wheeled Mobile Robots Moving on Uncertain Uneven Surface,"
isda,
pp. 126-131,
Sixth International Conference on Intelligent Systems Design and Applications (ISDA'06),
2006
|
|
