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. © 1993-2012 IEEE.

Arun D. Mahindrakar

Department of Electrical Engineering

Controller gain

Initial conditions

NONHOLONOMICS

Nonlinear control laws

PHYSICAL CONSTRAINTS

PRACTICAL STABILITY

Sliding modes

State constraints

Mobile robots

Stabilization

IIT Madras is a public technical and research university located in Chennai, Tamil Nadu. Founded in 1959, it is recognised as an Institute of National Importance.

IIT Madras has been ranked as the top engineering institute in India for four years in a row by the National Institutional Ranking Framework of the MHRD

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IIT Madras

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

IEEE Transactions on Control Systems Technology

In this paper, we present a sliding mode control algorithm to robustly stabilize a class of underactuated mechanical systems that are not linearly controllable and violate Brockett's necessary condition for smooth asymptotic stabilization of the equilibrium, with parametric uncertainties. In defining the class of systems, a few simplifying assumptions are made on the structure of the dynamics; in particular, the damping forces are assumed to be linear in velocities. We first propose a switching surface design for this class of systems, and subsequently, a switched algorithm to reach this surface in finite time using conventional and higher order sliding mode controllers. The stability of the closed-loop system is investigated with an undefined relative degree of the sliding functions. The controller gains are designed such that the controller stabilizes the actual system with parametric uncertainty. The proposed control algorithm is applied to two benchmark problems: a mobile robot and an underactuated underwater vehicle. Simulation results are presented to validate the proposed scheme. © 2009 IEEE.

IEEE Transactions on Robotics

Control of a class of underactuated mechanical systems using sliding modes

Sliding Mode Control in Electro-Mechanical Systems

Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference

Control of nonlinear systems with full state constraint using a Barrier Lyapunov Function

IEEE Control Systems

Discontinuous dynamical systems

Here we present sufficient conditions to check certain nonlinear controllability notions. Later we prove important properties of the examples considered. © Springer-Verlag Berlin Heidelberg 2006.

Lecture Notes in Control and Information Sciences

Examples and proofs

Configuration constrained stabilization of a wheeled mobile robot-theory and experiment

Journal	IEEE Transactions on Control Systems Technology
ISSN	10636536
Open Access	No