Backstepping Based Global Exponential Stabilization of a Tracked Mobile Robot with Slipping Perturbation

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	Backstepping Based Global Exponential Stabilization of a Tracked Mobile Robot with Slipping Perturbation
	Zhou Bo 2; Han Jianda 1; Dai Xianzhong 2
刊名	JOURNAL OF BIONIC ENGINEERING
	2011
卷号	8 期号:1 页码:69-76
关键词	NONHOLONOMIC SYSTEMS tracked mobile robot nonholonomic system stabilization backstepping Lyapunov function
ISSN号	1672-6529
其他题名	Backstepping Based Global Exponential Stabilization of a Tracked Mobile Robot with Slipping Perturbation
英文摘要	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.
资助项目	[National Natural Science Foundation of China]
语种	英语
CSCD记录号	CSCD:4178443
内容类型	期刊论文
源URL	[http://ir.imr.ac.cn/handle/321006/152827]
专题	金属研究所_中国科学院金属研究所
作者单位	1.中国科学院金属研究所 2.东南大学
推荐引用方式 GB/T 7714	Zhou Bo,Han Jianda,Dai Xianzhong. 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 Bo,Han Jianda,&Dai Xianzhong.(2011).Backstepping Based Global Exponential Stabilization of a Tracked Mobile Robot with Slipping Perturbation.JOURNAL OF BIONIC ENGINEERING,8(1),69-76.
MLA	Zhou Bo,et al."Backstepping Based Global Exponential Stabilization of a Tracked Mobile Robot with Slipping Perturbation".JOURNAL OF BIONIC ENGINEERING 8.1(2011):69-76.