Por favor, use este identificador para citar o enlazar este ítem: http://bibdigital.epn.edu.ec/handle/15000/9311
Título : Application of a Discontinuous Controller with Chattering Attenuation
Autor : Aguilar, Luis T.
Palabras clave : ROBOTS MÓVILES
SISTEMAS DE CONTROL
Fecha de publicación : 9-mar-2007
Resumen : We developed a discontinuous controller to stabilize the movement of a unicycle mobile robot around a desired trajectory via backstepping methodology. The main contribution of the paper is that chattering signal, produced by the imprecision of the discontinuous terms, vanished thanks to an adaptive gain that reduces the chattering level once the position errors were zero. A stability analysis of the closedloop dynamic system in question was performed within the framework of Lyapunov functions. Performance issues related to the discontinuous controllers are illustrated in numerical simulations applied to a unicycle mobile robot.
URI : http://bibdigital.epn.edu.ec/handle/15000/9311
Aparece en las colecciones: 2005 International Conference on Industrial Electronics and Control Applications (FIEE)

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