Backstepping Based Global Exponential Stabilization of a Tracked Mobile Robot with Slipping Perturbation
文献类型：期刊论文
| 作者 | Zhou B(周波) ; Han JD(韩建达); Dai XZ(戴先中)
|
| 刊名 | JOURNAL OF BIONIC ENGINEERING
 |
| 出版日期 | 2011 |
| 卷号 | 8期号:1页码:69-76 |
| 关键词 | tracked mobile robot nonholonomic system stabilization backstepping Lyapunov function |
| ISSN号 | 1672-6529 |
| 产权排序 | 1 |
| 通讯作者 | 周波 |
| 中文摘要 | While the nonholonomic robots with no-slipping constraints are studied extensively nowadays, the slipping effect is inevitable in many practical applications and should be considered necessarily to achieve autonomous navigation and control purposes especially in outdoor environments. In this paper the robust point stabilization problem of a tracked mobile robot is discussed in the presence of track slipping, which can be treated as model perturbation that violates the pure nonholonomic constraints. The kinematic model of the tracked vehicle is created, in which the slipping is assumed to be a time-varying parameter under certain assumptions of track-soil interaction. By transforming the original system to the special chained form of nonholonomic system, the integrator backstepping procedure with a state-scaling technique is used to construct the controller to stabilize the system at the kinematic level. The global exponential stability of the final system can be guaranteed by Lyapunov theory. Simulation results with different initial states and slipping parameters demonstrate the fast convergence, robustness and insensitivity to the initial state of the proposed method. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Engineering, Multidisciplinary ; Materials Science, Biomaterials ; Robotics |
| 研究领域[WOS] | Engineering ; Materials Science ; Robotics |
| 关键词[WOS] | NONHOLONOMIC SYSTEMS |
| 收录类别 | SCI ; EI ; CSCD |
| 资助信息 | This work is supported by the National Natural Science Foundation of China (Grant No. 61005092). |
| 语种 | 英语 |
| WOS记录号 | WOS:000288924600008 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7319]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhou B,Han JD,Dai XZ. Backstepping Based Global Exponential Stabilization of a Tracked Mobile Robot with Slipping Perturbation[J]. JOURNAL OF BIONIC ENGINEERING,2011,8(1):69-76. |
| APA | Zhou B,Han JD,&Dai XZ.(2011).Backstepping Based Global Exponential Stabilization of a Tracked Mobile Robot with Slipping Perturbation.JOURNAL OF BIONIC ENGINEERING,8(1),69-76. |
| MLA | Zhou B,et al."Backstepping Based Global Exponential Stabilization of a Tracked Mobile Robot with Slipping Perturbation".JOURNAL OF BIONIC ENGINEERING 8.1(2011):69-76. |
入库方式： OAI收割
来源：沈阳自动化研究所
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