Gain design of quasi-continuous exponential stabilizing controller for a nonholonomic mobile robot

• Autorzy: Nonaka S. , Tsujimura T. , Izumiya K.

Identyfikatory

DOI

10.1515/jaiscr-2016-0014

• Języki publikacji: EN

Abstrakty

EN

The control of nonholonomic canonical form using an invariant manifold is investigated to apply to a mobile robot steered by two independent driving wheels. A quasi-continuous exponential stabilizing controller is designed by using another input pattern. Additionally, the control gain designing method is proposed for this controller. Modified error system of nonholonomic double integrator model is used as nonholonomic canonical form. Generally, the gain cannot be calculated due to the non-linear transform of system. Owing to complicated relation of several parameters, the controller behavior is inconstant by gain pattern. We propose a method of designing gain which uses desired settling time. An approximate equation to obtain designed gains is derived based on the evaluation function. The design method to determine gains of the assumed actual system is simulated. The effectiveness of the proposed method is confirmed by these simulations.

Słowa kluczowe

EN

gain design; nonholonomic canonical form; exponential stabilized control; mobile robot

• Wydawca: University of Social Sciences
• Czasopismo: Journal of Artificial Intelligence and Soft Computing Research
• Rocznik: 2016
• Tom: Vol. 6, No. 3
• Strony: 189--200
• Opis fizyczny: Bibliogr. 16 poz., rys.

Twórcy

autor

Nonaka S.

• Department of Science and Advanced Technology, Saga University, Saga, Japan

autor

Tsujimura T.

• Department of Mechanical Enginnering, Saga University, Saga, Japan

autor

Izumiya K.

• Department of Mechanical Enginnering, Saga University, Saga, Japan

Bibliografia

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Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę.