Universal saturation controller design for mobile robots
Tác giả: Đỗ Khắc Đức, Z.P. Jiang, J. Pan
Nhà xuất bản: Proceedings of the 41st IEEE Conference on Decision and Control Las Vegas, USA, 2044-2049
We propose a global time-varying universal controller to achieve stabilization and tracking simultaneously for mobile robots with saturated inputs. The controller synthesis is based on Lyapunov’s direct method and backstepping technique. Numerical simulations are provided to validate the effectiveness of the proposed controller.