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Configuration Constrained Stabilization of a Wheeled Mobile Robot— Theory and Experiment

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2 Author(s)
Sankaranarayanan, V. ; Dept. of Electr. & Electron. Eng., Nat. Inst. of Technol., Tiruchirappalli, India ; Mahindrakar, A.D.

We propose a nonlinear control law based on sliding mode control technique to stabilize a mobile robot while adhering to the physical constraints on its configuration variables. The notion of constrained stabilization is used to prove the stability of the closed-loop system. A key contribution is the design of controller gains in accordance to the restrictions on the initial condition domain. The proposed technique is validated through both numerical simulation and experimental results.

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Control Systems Technology, IEEE Transactions on  (Volume:21 ,  Issue: 1 )