Control Synthesis of Nonholonomic Mobile Robots Under Time-Varying Delays and Input Saturation: Experimental Validation
Antonio González-Sorribes,
Rafael Carbonell,
Angel Cuenca
et al.
Abstract:This paper presents a new control synthesis methodology for nonholonomic mobile robots subjected to time-varying delays and input saturation constraints. The proposed control method is based on smooth static nonlinear functions, leading to a simpler structure than other available control strategies for this class of systems. In addition, the convergence to a certain target position with guaranteed exponential decay rate can be proved for any orientation error. To this end, a nonlinear Lyapunov-Krasovskii funct… Show more
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