Time-varying feedback stabilization of tracked mobile robot

Meng Ji; Zhenguo Sun; Junbo Wang; Qiang Chen

doi:10.1117/12.457447

18 February 2002 Time-varying feedback stabilization of tracked mobile robot

Meng Ji, Zhenguo Sun, Junbo Wang, Qiang Chen

Proceedings Volume 4573, Mobile Robots XVI; (2002) https://doi.org/10.1117/12.457447
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

This paper presents a time-varying feedback controller for stabilization of tracked mobile robot. Considering its nonholonomic property, we first transform the TMR kinematics into a advantageous model. Then the principle of exponential stabilization is discussed using a Lyapunov-type argument. The back-stepping technique is applied to obtain a global exponential regulator for the TMR model and simulation results are given.

Citation Download Citation

Meng Ji, Zhenguo Sun, Junbo Wang, and Qiang Chen "Time-varying feedback stabilization of tracked mobile robot", Proc. SPIE 4573, Mobile Robots XVI, (18 February 2002); https://doi.org/10.1117/12.457447

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