Application of a Discontinuous Controller with Chattering Attenuation

dc.creatorAguilar, Luis T.
dc.date2007-03-09T16:15:25Z
dc.date2010-09-07T16:38:16Z
dc.date2011-03-10T14:33:27Z
dc.date2007-03-09T16:15:25Z
dc.date2010-09-07T16:38:16Z
dc.date2011-03-10T14:33:27Z
dc.date2007-03-09T16:15:25Z
dc.identifierhttp://bibdigital.epn.edu.ec/handle/15000/9311
dc.descriptionWe 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.
dc.languageeng
dc.rightsopenAccess
dc.rightshttps://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectROBOTS MÓVILES
dc.subjectSISTEMAS DE CONTROL
dc.subjectMOBILE ROBOTS
dc.subjectCONTROL SYSTEMS
dc.titleApplication of a Discontinuous Controller with Chattering Attenuation
dc.typeArtículos de revistas


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