Backstepping Based Global Exponential Stabilization of a Tracked Mobile Robot with Slipping Perturbation
查看参考文献22篇
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文摘
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While the nonholonomic robots with no-slipping constraints are studied extensively nowadays, the slipping effect is inevitable in many practical applications and should be considered necessarily to achieve autonomous navigation and control purposes especially in outdoor environments. In this paper the robust point stabilization problem of a tracked mobile robot is discussed in the presence of track slipping, which can be treated as model perturbation that violates the pure nonholonomic constraints. The kinematic model of the tracked vehicle is created, in which the slipping is assumed to be a time-varying parameter under certain assumptions of track-soil interaction. By transforming the original system to the special chained form of nonholonomic system, the integrator backstepping procedure with a state-scaling technique is used to construct the controller to stabilize the system at the kinematic level. The global exponential stability of the final system can be guaranteed by Lyapunov theory. Simulation results with different initial states and slipping parameters demonstrate the fast convergence, robustness and insensitivity to the initial state of the proposed method |
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来源
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Journal of Bionic Engineering
,2011,8(1):69-76 【核心库】
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DOI
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10.1016/s1672-6529(11)60009-7
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关键词
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tracked mobile robot
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nonholonomic system
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stabilization
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backstepping
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Lyapunov function
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地址
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1.
School of Automation, Southeast University, Key Laboratory of Measurement and Control of CSE, Ministry of Education, Nanjing, 210096
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Shenyang Institute of Automation, CAS, Shenyang, 110016
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语种
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英文 |
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文献类型
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研究性论文 |
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ISSN
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1672-6529 |
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学科
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能源与动力工程 |
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基金
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国家自然科学基金
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文献收藏号
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CSCD:4178443
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