Steering control algorithm for drift-free control systems using model decomposition: A wheeled mobile robot of type (1,1) example

作者：Rehman F U^*; Ahmed M M; Ahmed N

来源：International Journal of Robotics and Automation, 2007, 22(4): 313-321.

• systems without drift
• nonholonomic systems
• Lyapunov function
• wheeled mobile robots

This paper presents a steering algorithm for drift-free control systems having control deficiency >= 2, based on the construction of a cost function V that is the sum of two semi-positive definite functions V-1 and V-2. These semi-positive definite functions are obtained by decomposing the system into two subsystems. The task of the algorithm is to decay the nondifferentiable cost function V along the controlled system trajectories in an average sense by first decaying the function V-1 using the trajectory interception approach and then decaying the function V-2 by using sinusoidal inputs. The effectiveness of the strategy is tested on a wheeled mobile robot of type (1, 1), which is a typical example of drift-free system with control deficiency >= 2.

• 出版日期2007