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Global exponential setpoint control of wheeled mobile robots: a Lyapunov approach

✍ Scribed by W.E. Dixon; Z.P. Jiang; D.M. Dawson

Publisher
Elsevier Science
Year
2000
Tongue
English
Weight
127 KB
Volume
36
Category
Article
ISSN
0005-1098

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✦ Synopsis

This paper presents a new di!erentiable, time-varying controller for the regulation problem for wheeled mobile robots. After the WMR kinematics have been transformed into an advantageous form, a dynamic oscillator, in lieu of explicit cosine or sine terms, is constructed to promulgate a global exponential regulation property for the transformed kinematic model via a Lyapunov-type argument. In order to showcase the di!erentiable nature of the proposed kinematic control structure, we demonstrate how the standard backstepping technique can be applied to obtain a global exponential regulator for an exact dynamic model.

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