epsilon-Stabilization of Multiple Chained form control Systems with Input Constraints and its application in mobile robots
文献类型：会议论文
| 作者 | Wang CL(王朝立); Huo W(霍伟); Tan DL(谈大龙); Wang YC(王越超)
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| 出版日期 | 2000 |
| 会议名称 | IEEE/Robotics-Society-of-Japan International Conference on Intelligent Robots and Systems (IROS 2000) |
| 会议日期 | October 31 - November 5, 2000 |
| 会议地点 | TAKAMATSU, JAPAN |
| 页码 | 1766-1771 |
| 中文摘要 | This paper is concerned with the stabilization problem of multiple chained form control systems with input constraints. A new controller presented can stabilize the system to an arbitrarily small E-neighborhood of its equilibrium in a finite time. This is achieved by the sliding mode approach and a multi-step control strategy. The application of it to a nonholonomic wheeled mobile robot is described. Simulation result shows that the proposed controller is effective. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE, Ind Electr Soc, IEEE, Robot & Automat Soc, Robot Soc Japan, Soc Instrument & Control Engineers, New Technol Fdn, Kagawa Univ |
| 会议录 | 2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 0-7803-6349-3 |
| WOS记录号 | WOS:000166948600284 |
| 源URL | [http://ir.sia.cn/handle/173321/7758]  |
| 专题 | 沈阳自动化研究所_沈阳自动化所知识产出(2000年前) |
| 推荐引用方式 GB/T 7714 | Wang CL,Huo W,Tan DL,et al. epsilon-Stabilization of Multiple Chained form control Systems with Input Constraints and its application in mobile robots[C]. 见:IEEE/Robotics-Society-of-Japan International Conference on Intelligent Robots and Systems (IROS 2000). TAKAMATSU, JAPAN. October 31 - November 5, 2000. |
入库方式： OAI收割
来源：沈阳自动化研究所
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