| Backstepping Based Global Exponential Stabilization of a Tracked Mobile Robot with Slipping Perturbation | |
| Alternative Title | Backstepping Based Global Exponential Stabilization of a Tracked Mobile Robot with Slipping Perturbation |
| Zhou Bo1; Han Jianda2; Dai Xianzhong1 | |
| 2011 | |
| Source Publication | JOURNAL OF BIONIC ENGINEERING
 |
| ISSN | 1672-6529 |
| Volume | 8Issue:1Pages:69-76 |
| Abstract | 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. |
| Other Abstract | 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. |
| Keyword | NONHOLONOMIC SYSTEMS tracked mobile robot nonholonomic system stabilization backstepping Lyapunov function |
| Indexed By | CSCD |
| Language | 英语 |
| Funding Project | [National Natural Science Foundation of China] |
| CSCD ID | CSCD:4178443 |
| Citation statistics |
Cited Times:3[CSCD]
[CSCD Record]
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| Document Type | 期刊论文 |
| Identifier | http://ir.imr.ac.cn/handle/321006/152828 |
| Collection | 中国科学院金属研究所 |
| Affiliation | 1.东南大学 2.中国科学院金属研究所 |
| Recommended Citation 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. |
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