Backstepping control with sum of squares design for Omni-directional mobile robots

Shun Hung Chen, Jyh-Chin Juang, Sin Hwa Su

研究成果: Conference contribution

11 引文 斯高帕斯(Scopus)

摘要

This paper presents a backstepping control method using sum of squares (SOS) technique to synthesize a nonlinear controller for a three wheels omni-directional mobile robot. The characteristic of strict-feedback systems is also applied to construct the backstepping controller. The controller design satisfies the Lyapunov direct method and LaSalle-Yoshizawa theorem so that the stability of control systems can be assured. Subsequently, the sum of squares conditions are developed to constraint the performances such that the backstepping controller is optimal. Computer simulations and experimental results for mobile robots demonstrate the effectiveness of the proposed backstepping controller.

原文English
主出版物標題ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
頁面545-550
頁數6
出版狀態Published - 2009 十二月 1
事件ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan
持續時間: 2009 八月 182009 八月 21

出版系列

名字ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings

Other

OtherICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
國家/地區Japan
城市Fukuoka
期間09-08-1809-08-21

All Science Journal Classification (ASJC) codes

  • 資訊系統
  • 控制與系統工程
  • 工業與製造工程

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