Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
767590 | Communications in Nonlinear Science and Numerical Simulation | 2009 | 9 Pages |
Abstract
We present a switched control algorithm to stabilize a car-like mobile robot which possesses velocity level nonholonomic constraint. The control approach rests on splitting the system into several second-order subsystems and then stabilizing the system sequentially using finite-time controllers, finally resulting in the mobile robot being moved from one point to another point. State dependent switching control is employed in which the controllers switches on a thin surface in the state-space. Robustness analysis is presented by redefining the switching signal using relaxed switching surface. Both, non-robust and robust controllers are validated through numerical simulation.
Related Topics
Physical Sciences and Engineering
Engineering
Mechanical Engineering
Authors
V. Sankaranarayanan, Arun D. Mahindrakar,