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Titel: Application of a Discontinuous Controller with Chattering Attenuation
Autor(en): Aguilar, Luis T.
Stichwörter: ROBOTS MÓVILES
SISTEMAS DE CONTROL
Erscheinungsdatum: 9-Mär-2007
Zusammenfassung: 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
Art: Article
Enthalten in den Sammlungen:2005 International Conference on Industrial Electronics and Control Applications (FIEE)

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