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Saturated stabilization and tracking of a nonholonomic mobile robot

✍ Scribed by Zhong-Ping Jiang; Erjen Lefeber; Henk Nijmeijer

Publisher
Elsevier Science
Year
2001
Tongue
English
Weight
125 KB
Volume
42
Category
Article
ISSN
0167-6911

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✦ Synopsis

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.

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