Journal
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
Volume 12, Issue 6, Pages 1216-1224Publisher
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-013-0492-z
Keywords
Dynamic feedback; input saturation; nonholonomic mobile robots; robust stabilization
Categories
Funding
- Natural Science Foundation of China [61304004]
- China Postdoctoral Science Foundation [2013M531263]
- Jiangsu Planned Projects for Postdoctoral Research Funds [1302140C]
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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.
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