|Table of Contents|

Posture Stabilization of Dubins ’ Car with Saturated Inputs and Turning Radius Constraints

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
2012年04期
Page:
593-599
Research Field:
Publishing date:

Info

Title:
Posture Stabilization of Dubins ’ Car with Saturated Inputs and Turning Radius Constraints
Author(s):
WANG Neng-jianZHANG De-fuZHOU Li-jie
College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China
Keywords:
saturated input minimal turning radius nonholonomic constraints artificial attractive coordinating fields trajectory shaping guidance posture stabilization
PACS:
TP273
DOI:
-
Abstract:
A continuous posture stabilization approach of the nonlinear system is presented which has constraint on saturated input and the minimal turning radius of Dubins ’ Car.Artificial attractive coordinating fields(AACF)is established whose coordinating factor is determined on line via variable universe adaptive fuzzy control(VUAFC).The line speed of the system is regulated accordingly.To obtain a convergence trajectory of the least energy,an angular velocity control law is derived from trajectory shaping guidance(TSG)law.The speed limit of saturated input and the minimal turning radius constraint are taken into account.Arbitrary point-to-point stabilization which meets the minimal turning radius constraint on plane can be realized with the extended control law.The proposed technique guarantees the exponential stability of the system and ensures the convergence of the posture to their desired fixing.Simulation results show that the precision of posture stabilization obtained is high.

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Last Update: 2012-10-12