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Robust discontinuous exponential regulation of dynamic nonholonomic wheeled mobile robots with parameter uncertainties
Author(s) -
Ma B. L.,
Tso S. K.
Publication year - 2008
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1274
Subject(s) - nonholonomic system , control theory (sociology) , mobile robot , convergence (economics) , robust control , controller (irrigation) , computer science , robustness (evolution) , exponential function , position (finance) , robot , control engineering , control (management) , mathematics , engineering , control system , artificial intelligence , mathematical analysis , agronomy , biochemistry , chemistry , finance , gene , electrical engineering , economics , biology , economic growth
For regulating a dynamic nonholonomic WMR (wheeled mobile robot) with parameter uncertainties, we derive a simple robust discontinuous control law, yielding a global exponential convergence of position and orientation to the desired set point despite parameter uncertainties. The controller design relies on separating the error dynamics into two subsystems, followed by robust feedback control laws to stabilize the subsystems. The effectiveness of the proposed control laws is verified by simulation. Copyright © 2007 John Wiley & Sons, Ltd.