Posture regulation of input constrained differential drive robots with bounds on stabilization time

摘要

In this paper the problem of posture stabilization for differential drive robots where there are constraints on the stabilization time and input control signals has been studied. Various methods have been developed for posture stabilization of differential drive robots, however, many of these methods cannot provide control over stabilization time. In this paper, a stabilizing controller is used to solve the stabilization problem by following a reference trajectory. The strategy proposed in this paper uses an iterative algorithm for constructing such a trajectory that simultaneously satisfies the bounds on inputs and the time requirement of the problem provided that the stabilization time is achievable. The proposed method provides a systematic way of searching for a posture stabilizing control that can guarantee the bounds and the imposed time constraint. To verify the proposed control, we have simulated a posture stabilization problem with constraints on the stabilization time. The results of the simulation show the success of the proposed method.