期刊
SYSTEMS & CONTROL LETTERS
卷 42, 期 5, 页码 327-332出版社
ELSEVIER
DOI: 10.1016/S0167-6911(00)00104-3
关键词
nonholonomic mobile robot; stabilization; tracking; input saturation
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. (C) 2001 Elsevier Science B.V. All rights reserved.
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