Exponential stabilization of nonholonomic mobile robots

Practical stabilization of a mobile robot using saturated control

“…Furthermore, the discontinuous controller [9] gives an oscillating trajectory for the second initial condition and its controller parameters need to be changed when the perturbations change. On the other hand, the controller [14] performs quite well. It reaches the stop criterium with approximately the same deviation from the shortest trajectory as the new controller and actually gives a better performance for worse conditions (this does not hold for all initial conditions though!).…”

“…A large number of simulations have been performed with the new controller and with three other controllers from literature: [11], [14] and [9]. The controllers are compared on the time and total number of wheel revolutions that are needed to bring the system to the stop criterium from two different initial positions …”

“…Herein the controller gains are (in the notation of the cited authors) tuned to: α = 2 and β = 0.5 [11]; cp 1 = 0.7, cp 2 = 0.4, b = 1.2 [14]; h = 3, ψ 1 = 3,ψ 2 = 3 [9](ideal); and h = 1, ψ 1 = 1,ψ 2 = 1 [9](perturbed). The tuning process focussed on the same performance requirements as given in section II and was more or less a process of trial and error.…”

“…In [6] an extensive survey is given of the developments in this field. The solutions are divided into open-loop control (see for example: [2], [5] and [16]) and closed-loop control (see for example: [3], [4], [7], [10], [11], [14] and [15]). Furthermore, they are generally specified on the dynamics of a wheeled mobile robot or its chained form equivalent.…”

Fast adaptation for effect-aware pushing

“…This angle is called φ a = 1.5 * η. As the object approaches the goal, this angle approaches the goal orientation ( [21] for more details). We selected this solution.…”