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Conference Papers Year : 2014

Finite-Time Supervisory Stabilization for a Class of Nonholonomic Mobile Robots Under Input Disturbances

Abstract

This paper provides a solution for the stabilization of a nonholonomic wheeled mobile robot which is affected by additive input disturbances. The solution is based on the supervisory control framework, finite-time stability and robust multi-output regulation. A supervisor and two controls are designed with the objective to stabilize the first output (in the input-to-output stability sense) while the second output has to be kept under a threshold. The results is then applied to the case of the unicycle mobile robot which has to reach a position (i.e. stabilization) avoiding eventual obstacle during the task (i.e. keeping the second output under a threshold). The effectiveness of the solution is proved mathematically, supported by simulation results and finally tested on a wheeled mobile robot in a real scenario.
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Dates and versions

hal-00972605 , version 1 (03-04-2014)

Identifiers

  • HAL Id : hal-00972605 , version 1

Cite

Matteo Guerra, Denis Efimov, Gang Zheng, Wilfrid Perruquetti. Finite-Time Supervisory Stabilization for a Class of Nonholonomic Mobile Robots Under Input Disturbances. 19th IFAC World Congress, Aug 2014, Cape Town, South Africa. ⟨hal-00972605⟩
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