Stochastic Stabilization of Nonholonomic Mobile Robot with Heading-Angle-Dependent Disturbance
| Autor: | Yong Hui Liu, Zhao Jing Wu |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2012 |
| Předmět: |
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Engineering Article Subject business.industry General Mathematics lcsh:Mathematics General Engineering lcsh:QA1-939 Exponential function Control theory Position (vector) lcsh:TA1-2040 Integrator Bounded function Initial value problem Almost surely business lcsh:Engineering (General). Civil engineering (General) |
| Zdroj: | Mathematical Problems in Engineering, Vol 2012 (2012) |
| ISSN: | 1024-123X |
| DOI: | 10.1155/2012/870498 |
| Popis: | The problem of exponential stabilization for nonholonomic mobile robot with dependent stochastic disturbance of heading angle is considered in this paper. An integrator backstepping controller based on state-scaling method is designed such that the state of the closed-loop system, starting from a nonzero initial heading angle, is regulated to the origin with exponential rate in almost surely sense. For zero initial heading angle, a controller is designed such that the heading angle is driven away from zero while the position variables are bounded in a neighborhood of the origin. Combing the above two cases results in a switching controller such that for any initial condition the configuration of the robot can be regulated to the origin with exponential rate. The efficiency of the proposed method is demonstrated by a detailed simulation. |
| Databáze: | OpenAIRE |
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