Page 243 - Autonomous Mobile Robots

6 Adaptive Neural-Fuzzy

Control of

Nonholonomic Mobile

Robots

Fan Hong, Shuzhi Sam Ge, Frank L. Lewis,
and Tong Heng Lee

CONTENTS

6.1 Introduction ............................................................ 229
6.2 Dynamics of Nonholonomic Mobile Robots ......................... 232
6.3 Multi-Layer NF Systems .............................................. 237
6.4 Adaptive NF Control Design .......................................... 242
6.5 Simulation Studies ..................................................... 256
6.6 Conclusion ............................................................. 261
References .................................................................... 262
Biographies ................................................................... 264

6.1 INTRODUCTION
In recent years, control and stabilization of mechanical systems with
nonholonomic constraints has been an area of active research. Due to Brockett’s
theorem [1], it is well known that nonholonomic systems with restricted mobil-
ity cannot be stabilized to a desired configuration (or posture) via differentiable,
or even continuous, pure-state feedback, although it is controllable. A number
of approaches including (i) discontinuous time-invariant stabilization [2,3],
(ii) time-varying stabilization [4], and (iii) hybrid stabilization [5] have been
proposed for the problem (see the Survey Paper 6 and the references therein for
more details).
For the controller design of nonholonomic systems, there are efforts focused
on the kinematic control problem, where the systems are represented by their
kinematic models and the velocity acts as the control input. One commonly

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© 2006 by Taylor & Francis Group, LLC

FRANKL: “dk6033_c006” — 2006/3/31 — 16:42 — page 229 — #1