Stabilization Control of Nonholonomic Wheeled Mobile Service Robots

Author:

Chang, Jiang   Meng, Qing Xin  

Journal:

Key Engineering Materials

Issue Date:

2009

Abstract(summary):

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.

Page:

593-596