Asymptotic Stabilization of Nonholonomic Four-Wheeled Vehicle with Steering Limitation based on Lyapunov Function Approach
Autor: | Koichi Kobayashi, Yuh Yamashita, Ryo Nonaka, W. Hashimoto |
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Rok vydání: | 2016 |
Předmět: |
0301 basic medicine
Lyapunov function Nonholonomic system 0209 industrial biotechnology Mobile robot 02 engineering and technology Nonlinear control Constraint (information theory) 03 medical and health sciences symbols.namesake 030104 developmental biology 020901 industrial engineering & automation Control and Systems Engineering Control theory Steering angle symbols Mathematics Control-Lyapunov function |
Zdroj: | IFAC-PapersOnLine. 49:235-240 |
ISSN: | 2405-8963 |
Popis: | In this paper, we propose a new control law for the asymptotic stabilization of a four-wheeled vehicle with a steering angle limitation. The control law is based on a locally semiconcave control Lyapunov function (LS-CLF) for the chained system proposed by Kimura et al. (2015) that is converted by coordinate and input transformations without singular points. We confirm that the LS-CLF is also effective for the four-wheeled vehicle case, i.e., such inputs exist in the input constraint that decrease the LS-CLF. We also design a control law by using the LS-CLF and steering angle constraint that achieves asymptotic stabilization of the origin of a four-wheeled system while avoiding pivot turns. We confirm the effectiveness of the proposed control law via a computer simulation and an experiment. |
Databáze: | OpenAIRE |
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