NDLI: Nonlinear control design using Lyapunov function for two-wheeled mobile robots

Content Provider	IEEE Xplore Digital Library
Author	Kausar, Z. Stol, K. Patel, N.
Copyright Year	2012
Description	Author affiliation: Faculty of Engineering, The University of Auckland, New Zealand (Kausar, Z.; Stol, K.; Patel, N.)
Abstract	This paper presents a nonlinear feedback control framework for two-wheeled mobile robots. The approach uses a constructive Lyapunov function which allows the formulation of a control law with asymptotic stability of the equilibrium point of the system and a computable stability region. The dynamic equations are simplified through normalization and partial feedback linearization. The latter allows linearizing only the actuated coordinate. Description of the control law is complemented by the stability analysis of the closed loop dynamics of the system. The effectiveness of the method has been illustrated by its good performance and less control demand through simulations conducted for two control tasks: upright position stabilization and velocity tracking for a statically unstable two wheeled mobile robot.
Starting Page	123
Ending Page	128
File Size	754941
Page Count	6
File Format	PDF
ISBN	9781467316439
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-11-28
Publisher Place	New Zealand
Access Restriction	Subscribed
Rights Holder	AUT University
Subject Keyword	Asymptotic stability Two wheeled mobile robot Stabilization Wheels Stability analysis Mathematical model Mobile robots Equations Nonlinear control Lyapunov methods Lyapunov function
Content Type	Text
Resource Type	Article

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