Global exponential setpoint control of wheeled mobile robots: A Lyapunov approach (Q5925930): Difference between revisions

For the stabilization of a wheeled mobile robot (WMR), the design of a differentiable time-varying induction motor controller is considered. Using a dynamic oscillator and Lyapunov stability analysis, it is shown that the controller exponentially regulates the WMR to any fixed setpoint.

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reviewed by

Daniel Lascar

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zbMATH Keywords

wheeled mobile robot

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induction motor controller

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MaRDI profile type

MaRDI publication profile

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cites work

Discontinuous control of nonholonomic systems

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Stabilization and tracking in the nonholonomic integrator via sliding modes

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Control and stabilization of nonholonomic dynamic systems

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Q3309568

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Exponential stabilization of mobile robots with nonholonomic constraints

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Robust tracking and regulation control for mobile robots

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Regulation and tracking of the nonholonomic double integrator: A field-oriented control approach

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Q4360884

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A Lyapunov approach to exponential stabilization of nonholonomic systems in power form

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Tracking control of mobile robots: A case study in backstepping

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GLOBAL STABILIZATION OF PARAMETRIC CHAINED-FORM SYSTEMS BY TIME-VARYING DYNAMIC FEEDBACK

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Exponential stabilization of driftless nonlinear control systems using homogeneous feedback

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Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift

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Q3140766

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Control of chained systems application to path following and time-varying point-stabilization of mobile robots

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Q4003793

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Non-holonomic control systems: from steering to stabilization with sinusoids

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full work available at URL

https://doi.org/10.1016/s0005-1098(00)00099-6

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Identifiers

zbMATH Open document ID

0967.93072

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DOI

10.1016/S0005-1098(00)00099-6

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Mathematics Subject Classification ID

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Sitelinks

Mathematics(1 entry)

mardi Publication:5925930

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+Discontinuous control of nonholonomic systems
@@ Property / cites work: Discontinuous control of nonholonomic systems / rank @@
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@@ Property / cites work @@
+Stabilization and tracking in the nonholonomic integrator via sliding modes
+Normal rank
@@ Property / cites work @@
+Control and stabilization of nonholonomic dynamic systems
+Normal rank
@@ Property / cites work @@
+Q3309568
@@ Property / cites work: Q3309568 / rank @@
+Normal rank
@@ Property / cites work @@
+Exponential stabilization of mobile robots with nonholonomic constraints
+Normal rank
@@ Property / cites work @@
+Robust tracking and regulation control for mobile robots
+Normal rank
@@ Property / cites work @@
+Regulation and tracking of the nonholonomic double integrator: A field-oriented control approach
+Normal rank
@@ Property / cites work @@
+Q4360884
@@ Property / cites work: Q4360884 / rank @@
+Normal rank
@@ Property / cites work @@
+A Lyapunov approach to exponential stabilization of nonholonomic systems in power form
+Normal rank
@@ Property / cites work @@
+Tracking control of mobile robots: A case study in backstepping
+Normal rank
@@ Property / cites work @@
+GLOBAL STABILIZATION OF PARAMETRIC CHAINED-FORM SYSTEMS BY TIME-VARYING DYNAMIC FEEDBACK
+Normal rank
@@ Property / cites work @@
+Exponential stabilization of driftless nonlinear control systems using homogeneous feedback
+Normal rank
@@ Property / cites work @@
+Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift
+Normal rank
@@ Property / cites work @@
+Q3140766
@@ Property / cites work: Q3140766 / rank @@
+Normal rank
@@ Property / cites work @@
+Control of chained systems application to path following and time-varying point-stabilization of mobile robots
+Normal rank
@@ Property / cites work @@
+Q4003793
@@ Property / cites work: Q4003793 / rank @@
+Normal rank
@@ Property / cites work @@
+Non-holonomic control systems: from steering to stabilization with sinusoids
+Normal rank
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+Q127883607
@@ Property / Wikidata QID: Q127883607 / rank @@
+Normal rank
@@ Property / full work available at URL @@
+https://doi.org/10.1016/s0005-1098(00)00099-6
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+W2050086884
@@ Property / OpenAlex ID: W2050086884 / rank @@
+Normal rank