Asymptotic Stabilization of Nonholonomic Four-Wheeled Vehicle with Steering Limitation based on Lyapunov Function Approach. Issue 18 (2016)

• Record Type: Journal Article
• Authors: Hashimoto, W.; Yamashita, Y.; Nonaka, R.; Kobayashi, K.
• Is Part Of: IFAC-PapersOnLine. Volume 49:Issue 18(2016)
• Page Start: 235
• Page End: 240
• Publication Date: 2016
• Subjects: nonlinear control -- Lyapunov function -- asymptotic stabilization -- mobile robot -- nonholonomic system; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2016.10.169
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper, we propose a new control law for the asymptotic stabilization of a four-wheeled vehicle with a steering angle limitation. The control law is based on a locally semiconcave control Lyapunov function (LS-CLF) for the chained system proposed by Kimura et al. (2015) that is converted by coordinate and input transformations without singular points. We confirm that the LS-CLF is also effective for the four-wheeled vehicle case, i.e., such inputs exist in the input constraint that decrease the LS-CLF. We also design a control law by using the LS-CLF and steering angle constraint that achieves asymptotic stabilization of the origin of a four-wheeled system while avoiding pivot turns. We confirm the effectiveness of the proposed control law via a computer simulation and an experiment.