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
其他题名	Backstepping Based Global Exponential Stabilization of a Tracked Mobile Robot with Slipping Perturbation
	Zhou Bo 1; Han Jianda 2; Dai Xianzhong 1
	2011
发表期刊	JOURNAL OF BIONIC ENGINEERING
ISSN	1672-6529
卷号	8 期号:1 页码:69-76
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.
其他摘要	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.
关键词	NONHOLONOMIC SYSTEMS tracked mobile robot nonholonomic system stabilization backstepping Lyapunov function
收录类别	CSCD
语种	英语
资助项目	[National Natural Science Foundation of China]
CSCD记录号	CSCD:4178443
引用统计	被引频次：3[CSCD] [CSCD记录]
文献类型	期刊论文
条目标识符	http://ir.imr.ac.cn/handle/321006/152828
专题	中国科学院金属研究所
作者单位	1.东南大学 2.中国科学院金属研究所
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.