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Backstepping Based Global Exponential Stabilization of a Tracked Mobile Robot with Slipping Perturbation

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Zhou Bo 1 *   Han Jianda 2   Dai Xianzhong 1  
文摘 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
来源 Journal of Bionic Engineering ,2011,8(1):69-76 【核心库】
DOI 10.1016/s1672-6529(11)60009-7
关键词 tracked mobile robot ; nonholonomic system ; stabilization ; backstepping ; Lyapunov function
地址

1. School of Automation, Southeast University, Key Laboratory of Measurement and Control of CSE, Ministry of Education, Nanjing, 210096  

2. Shenyang Institute of Automation, CAS, Shenyang, 110016

语种 英文
文献类型 研究性论文
ISSN 1672-6529
学科 能源与动力工程
基金 国家自然科学基金
文献收藏号 CSCD:4178443

参考文献 共 22 共2页

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引证文献 3

1 郭一军 基于扩张状态观测器的轮式移动机器人抗饱和自适应滑模轨迹跟踪控制 系统科学与数学,2017,37(5):1179-1193
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2 傅建桥 一种反恐驱暴机器人移动载体的设计 东华大学学报. 自然科学版,2017,43(4):520-524
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