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ε-stabilization of multiple chained form control systems with input constraints and its application in mobile robots

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4 Author(s)
Chaoli Wang ; Robotics Lab., Acad. Sinica, Shenyang, China ; Weihuo ; Dalong Tan ; Yuechao Wang

This paper is concerned with the stabilization problem of multiple chained form control systems with input constraints. A new controller presented can stabilize the system to an arbitrarily, small ε-neighborhood of its equilibrium in a finite time. This is achieved by the sliding mode approach and a multi-step control strategy. The application of it to a nonholonomic wheeled mobile robot is described. Simulation result shouts that the proposed controller is effective

Published in:

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on  (Volume:3 )

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