Robotics: Science and Systems III

Passivity-Based Switching Control for Stabilization of Wheeled Mobile Robots

Dongjun Lee

Abstract: We propose a novel switching control law for the posture stabilization of a wheeled mobile robot, that utilizes the (energetic) passivity of the system's open-loop dynamics with non-negligible inertial effects. The proposed passivity-based switching control law ensures that the robot's $(x,y)$-position enters into an arbitrarily small (as specified by user-designed error-bound) level set of a certain navigation potential function defined on the $(x,y)$-plane, and that its orientation converges to a target angle. Under this passivity-based switching control, the robot moves back and forth between two submanifolds in such a way that the navigation potential function is strictly decreasing during this inter-switching move. Once the system's $(x,y)$-trajectory enters such a desired level set, at most, only one more switching occurs to correct orientation. Simulation is performed to validate/highlight properties of the presented switching control law.



    AUTHOR    = {D. Lee},
    TITLE     = {Passivity-Based Switching Control for Stabilization of Wheeled Mobile Robots},
    BOOKTITLE = {Proceedings of Robotics: Science and Systems},
    YEAR      = {2007},
    ADDRESS   = {Atlanta, GA, USA},
    MONTH     = {June},
    DOI       = {10.15607/RSS.2007.III.008}