T. Urakubo, Feedback Stabilization of a Two-Wheeled Mobile Robot...

Faculty of Engineering and Natural Sciences
FENS SEMINARS

Feedback Stabilization of a Two-Wheeled Mobile Robot
Using Potential Functions

Takateru Urakubo, Kobe University, Japan

Abstract:
This talk deals with the feedback stabilization problem for a two-wheeled mobile robot that is a typical example of nonholonomic systems. A discontinuous state feedback controller is presented based on Lyapunov control: We choose a potential function (Lyapunov function) whose value is minimum at a desired point and construct a control input by multiplying the gradient vector of the potential function by a matrix composed of a negative definite symmetric one and a skew-symmetric one. The analysis shows that the system controlled by the controller converges to the desired point. Moreover, it is possible to apply the controller to
the case where there are some obstacles on the ground. If we can choose a potential function whose value is maximum on the surfaces of obstacles, the controlled system converges to the desired point avoiding collision with obstacles.

Takateru Urakubo
He received the BE, ME and DE degrees in Aeronautics and Astronautics Engineering from Kyoto University, Kyoto, Japan, in 1996, 1998 and 2001, respectively. He is now a research associate in the Department of Computer and Systems Engineering, Kobe University. His research interests include nonlinear control and autonomous robots.

March 23, 2006, 13:40, FENS 2019