Lyapunov vector function method in the motion stabilisation problem for nonholonomic mobile robot

Aleksandr Andreev and Olga Peregudova

International Journal of Systems Science, 2017, vol. 48, issue 9, 2003-2012

Abstract: In this paper we propose a sampled-data control law in the stabilisation problem of nonstationary motion of nonholonomic mobile robot. We assume that the robot moves on a horizontal surface without slipping. The dynamical model of a mobile robot is considered. The robot has one front free wheel and two rear wheels which are controlled by two independent electric motors. We assume that the controls are piecewise constant signals. Controller design relies on the backstepping procedure with the use of Lyapunov vector-function method. Theoretical considerations are verified by numerical simulation.

Date: 2017
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DOI: 10.1080/00207721.2017.1290296

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