Robust Smooth Time-varying Exponential Stabilization of Dynamic Nonholonomic Mobile Cart with Parameter Uncertainties
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摘要: For regulating the dynamic nonholonomic mobile cart with parameter uncertainties, a time-varying robust control law is derived to yield globally exponential convergence of cart0s position and orientation to the desired set point. The controller design relies on converting the cart0s dynamics to an advantageous form, and the robust linear feedback control laws steer the cart0s position and orientation errors to zero exponentially. Simulation results show the effectiveness of the proposed control law.Abstract: For regulating the dynamic nonholonomic mobile cart with parameter uncertainties, a time-varying robust control law is derived to yield globally exponential convergence of cart0s position and orientation to the desired set point. The controller design relies on converting the cart0s dynamics to an advantageous form, and the robust linear feedback control laws steer the cart0s position and orientation errors to zero exponentially. Simulation results show the effectiveness of the proposed control law.
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