Global exponential tracking control of a mobile robot system via a PE condition

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Volumn 30, Issue 1, 2000, Pages 129-142

  Dixon, Warren E ^b   Dawson, Darren M ^a,b   Zhang, Fumin ^b   Zergeroglu, Erkan ^b  

^a IEEE   (United States)

^b Clemson University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

GLOBAL EXPONENTIAL TRACKING CONTROL;

ADAPTIVE CONTROL SYSTEMS; KINEMATICS; MATHEMATICAL MODELS; MOTION CONTROL;

MOBILE ROBOTS;

EID: 0033906661     PISSN: 10834419     EISSN: None     Source Type: Journal    
DOI: 10.1109/3477.826953     Document Type: Article

References (27)

1. L. E. Aguilar M, P. Soueres, M. Courdesses, and S. Fleury,"Robust path-following control with exponential stability for mobile robots," in Proc. IEEE Int. Conf. Robot. Automat., 1998, pp. 3279-3284.
2. B. D. O. Anderson, "Exponential stability of linear equations arising in adaptive identification," IEEE Trans. Automat. Contr., vol. 22, pp. 83-88, Feb. 1977.
3. P. Antsaklis and A. Michel, Linear Systems. New York: McGraw-Hill, 1997.
4. A. Bloch, M. Reyhanoglu, and N. McClamroch, "Control and stabilization of nonholonomic dynamic systems," IEEE Trans. Automat. Contr., vol. 37, Nov. 1992.
5. R. Brockett, "Asymptotic stability and feedback stabilization," in Differential Geometric Control Theory, R. Brockett, R. Millman, and H. Sussmann, Eds. Boston, MA: Birkhauser, 1983.
6. C. Canudas de Wit and O. Sordalen, "Exponential stabilization of mobile robots with nonholonomic constraints," IEEE Trans. Automat. Contr., vol. 37, pp. 1791-1797, Nov. 1992.
7. C. Canudas de Wit, K. Khennouf, C. Samson, and O. J. Sordalen, "Nonlinear control for mobile robots," in Recent Trends in Mobile Robots, Y. Zheng, Ed. River Edge, NJ: World Scientific, 1993.
8. J. Coron and J. Pomet, "A remark on the design of time-varying stabilizing feedback laws for controllable systems without drift," in Proc. IFAC Symp. Nonlinear Control Systems Design (NOLCOS), Bordeaux, France, June 1992, pp. 413-417.
9. N. Costescu, D. M. Dawson, and M. Loffler, "Qmotor 2.0 - A PC based real-time multitasking graphical control environment," IEEE Contr. Syst. Mag., pp. 68-71, June 1999.
10. D. Dawson, J. Hu, and P. Vedagharba, "An adaptive control for a class of induction motor systems," in Proc. IEEE Conf. Decision and Control, New Orleans, LA, Dec. 1995, pp. 1567-1572.
11. W. E. Dixon, D. M. Dawson, E. Zergeroglu, and F. Zhang, "Robust tracking control of a mobile robot system," in Proc. IEEE Conf. Control Applications, Kohala Coast, HI, Aug. 22-26, 1999, pp. 1015-1020.
12. W. Dong and W. Huo, "Adaptive stabilization of dynamic nonholonomic chained systems with uncertainty," in Proc. 36th IEEE Conf. Decision and Control, Dec. 1997, pp. 2362-2367.
13. G. Escobar, R. Ortega, and M. Reyhanoglu, "Regulation and tracking of the nonholonomic double integrator: A field-oriented control approach," Automatica, vol. 34, no. 1, pp. 125-131, 1998.
14. J. Godhavn and O. Egel, "A Lyapunov approach to exponential stabilization of nonholonomic systems in power form," IEEE Trans. Automat. Contr., vol. 42, pp. 1028-1032, July 1997.
15. P. A. Ioannou and J. Sun, Robust Adaptive Control. Englewood Cliffs, NJ: Prentice-Hall, Inc., 1995.
16. Z. Jiang and H. Nijmeijer, "Tracking control of mobile robots: A case study in backstepping," Automatica, vol. 33, no. 7, pp. 1393-1399, 1997.
17. _, "A recursive technique for tracking control of nonholonomic systems in the chained form," IEEE Trans. Automat. Contr., vol. 44, pp. 265-279, Feb. 1999.
18. Y. Kanayama, Y. Kimura, F. Miyazaki, and T. Noguchi, "A stable tracking control method for an autonomous mobile robot," in Proc. IEEE Int. Conf. Robot. Automat., 1990, pp. 384-389.
19. H. K. Kahlil, Nonlinear Systems. Englewood Cliffs, NJ: Prentice-Hall, 1996.
20. F. Lewis, C. Abdallah, and D. Dawson, Control of Robot Manipulators. New York: MacMillan, 1993.
21. R. McCloskey and R. Murray, "Exponential stabilization of driftless nonlinear control systems using homogeneous feedback," IEEE Trans. Automat. Contr., vol. 42, pp. 614-628, May 1997.
22. J. Pomet, "Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift," Syst. Contr. Lett., vol. 18, no. 2, pp. 147-158, 1992.
23. C. Samson, "Velocity and torque feedback control of a nonholonomic cart," in Proc. Int. Workshop Adaptive and Nonlinear Control: Issues in Robotics, Grenoble, France, 1990.
24. _, "Control of chained systems application to path following and time-varying point-stabilization of mobile robots," IEEE Trans. Automat. Contr., vol. 40, pp. 64-77, Jan. 1997.
25. S. Sastry and M. Bodson, Adaptive Control: Stability, Convergence, and Robustness. Englewood Cliffs, NJ: Prentice-Hall, 1989.
26. A. Teel, R. Murray, and C. Walsh, "Nonholonomic control systems: From steering to stabilization with sinusoids," Int. J. Control, vol. 62, no. 4, pp. 849-870, 1995.
27. G. Walsh, D. Tilbury, S. Sastry, R. Murray, and J. P. Laumond, "Stabilization of trajectories for systems with nonholonomic constraints," IEEE Trans. Automat. Contr., vol. 39, pp. 216-222, Jan. 1994.