Stabilization Control of Nonholonomic Wheeled Mobile Service Robots

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外文摘要：Nonholonomic wheeled mobile service robot's posture error model denoted by polar coordinates in global coordinates is established .Based on the inherent discontinuousness of the closed-loop system model, a novel nonlinear state feedback stabilization control law is proposed, which causes closed-loop system state space equation of robot to have isolated equilibrium state at origin. By Lyapunov candidate function method, this paper concludes that the closed-loop system is global uniformly asymptotically stable at origin. Simulation results indicate that the proposed control law is effective.

外文关键词：

nonholonomicwheeled mobile robots(WMR)stabilizationlyapunov candidate function methodglobal uniformly asymptotically stable(GUAS)

作者：

Chang Jiang、Meng Qing-xin

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作者单位：

College of Mechanical and Electronic Engineering, Harbin Engineering University, Harbin 150001 China College of Mechanical Engineering, Jiamusi University, Jiamusi 154007 China

College of Mechanical and Electronic Engineering, Harbin Engineering University, Harbin 150001 China

出版年：

2010

Key engineering materials

ISSN：1013-9826

年,卷(期)：2010.419/420