Asymptotic Stabilization of Nonholonomic Mobile Robots With Spatial Constraint

This paper investigates the problem of global stabilization of nonholonomic mobile robots with spatial constraint. A nonlinear mapping is first introduced to transform the state-constrained system into a new unconstrained one. Then, by employing the backstepping technique and switching control strat...

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Bibliographic Details
Published inEngineering letters Vol. 26; no. 3
Main Authors Shang, Yanling, Li, Hongsheng, Wen, Xiulan
Format Journal Article
LanguageEnglish
Published Hong Kong International Association of Engineers 28.08.2018
Subjects
Constraint modelling
Control systems
Controllers
Feedback control
Robots
Stabilization
State feedback
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Summary:This paper investigates the problem of global stabilization of nonholonomic mobile robots with spatial constraint. A nonlinear mapping is first introduced to transform the state-constrained system into a new unconstrained one. Then, by employing the backstepping technique and switching control strategy, a state feedback controller is successfully constructed to guarantee that the states of closed-loop system are asymptotically regulated to zero without violation of the constraint. Finally, simulation results provided to illustrate the validity of the proposed approach.
ISSN:1816-093X
1816-0948