U-003

Global Exponential Setpoint Control of Mobile Robots

Authors: W.E. Dixon, D.M. Dawson, F. Zhang, and E. Zergeroglu
Affiliation: Clemson University

Abstract
This paper presents a new smooth time-varying controller for the stabilization problem about a fixed setpoint for a wheeled mobile robot. The structure of the proposed control algorithm relies on a previously designed controller for the induction motor. After the WMR kinematics/dynamics have been transformed into an advantageous form, a dynamic oscillator, in lieu of explicit cosine or sine terms, is constructed to promulgate a standard exponential stability result for the transformed dynamics via a Lyapunov-type argument. Simulation results are presented to demonstrate the performance of the proposed controller.

Warren Dixon
Doctoral Student
Department of Electrical and Computer Engineering
312 EIB, Clemson University
Clemson SC 29634
wdixon@eng.clemson.edu
Office (864) 656-7218
Fax (864) 656-7218

http://ece.clemson.edu/crb/students/wdixon/index.htm