Robust simultaneous tracking and stabilization of wheeled mobile robots not satisfying nonholonomic constraint

  • Zhu Xiao-cai  (祝晓才)Email author
  • Dong Guo-hua  (董国华)
  • Cai Zi-xing  (蔡自兴)
  • Hu De-wen  (胡德文)


A robust unified controller was proposed for wheeled mobile robots that do not satisfy the ideal rolling without slipping constraint. Practical trajectory tracking and posture stabilization were achieved in a unified framework. The design procedure was based on the transverse function method and Lyapunov redesign technique. The Lie group was also introduced in the design. The left-invariance property of the nominal model was firstly explored with respect to the standard group operation of the Lie group SE(2). Then, a bounded transverse function was constructed, by which a corresponding smooth embedded submanifold was defined. With the aid of the group operation, a smooth control law was designed, which fulfills practical tracking/stabilization of the nominal system. An additional component was finally constructed to robustify the nominal control law with respect to the slipping disturbance by using the Lyapunov redesign technique. The design procedure can be easily extended to the robot system suffered from general unknown but bounded disturbances. Simulations were provided to demonstrate the effectiveness of the robust unified controller.

Key words

wheeled mobile robot robust control Lie group transverse function Lyapunov redesign 


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Copyright information

© Central South University Press, Sole distributor outside Mainland China: Springer 2007

Authors and Affiliations

  • Zhu Xiao-cai  (祝晓才)
    • 1
    Email author
  • Dong Guo-hua  (董国华)
    • 1
  • Cai Zi-xing  (蔡自兴)
    • 2
  • Hu De-wen  (胡德文)
    • 1
  1. 1.College of Mechatronic Engineering and AutomationNational University of Defense TechnologyChangshaChina
  2. 2.School of Information Science and EngineeringCentral South UniversityChangshaChina

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