Global exponential setpoint control of wheeled mobile robots: a Lyapunov approach
نویسندگان
چکیده
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. 2000 Elsevier Science Ltd. All rights reserved.
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ورودعنوان ژورنال:
- Automatica
دوره 36 شماره
صفحات -
تاریخ انتشار 2000