Abstract
The control problem of the mobile robot moving to goal is investigated, in which the control input is constrained. The concept of efficient control is put forward aiming at the motion control for mobile robot. Also variable gain control method is used to control mobile robot moving to goal. During the course of motion, the system state is monotonically converged to the goal and the phenomenon of converging on limit cycle of the system is avoided. The simulation example shows the efficiency of the variable gain control.
| Original language | English |
|---|---|
| Pages (from-to) | 501-505 |
| Number of pages | 5 |
| Journal | Kongzhi yu Juece/Control and Decision |
| Volume | 19 |
| Issue number | 5 |
| State | Published - May 2004 |
| Externally published | Yes |
Keywords
- Converge monotonically
- Efficient control
- Limit cycle
- Mobile robot
- Motion control