Summary
International Symposium on Nonlinear Theory and its Applications
2017
Session Number:A1L-B
Session:
Number:A1L-B-6
Asymptotic Stabilization of Nonholonomic Four-Wheeled Vehicle with Hysteresis Mechanism
Wataru Hashimoto, Yuh Yamashita, Koichi Kobayashi,
pp.30-33
Publication Date:2017/12/4
Online ISSN:2188-5079
Summary:
In this paper, we propose a new asymptotically stabilizing control law for a four-wheeled vehicle with a steering limitation. We improve a previously proposed control law by authors, which uses a locally semiconcave control Lyapunov function (LS-CLF) and includes a saturation function and a signum function. The signum function makes the vehicle velocity nonzero except at the origin so that the angular velocity can be manipulated within the input constraint. However, the signum function may cause a chattering phenomenon at some state far from the origin. Thus, we integrate a hysteresis mechanism on the vehicle velocity with the control law. The mechanism makes a sign of the vehicle velocity maintain if the input value decreases the LS-CLF. We confirm the effectiveness of the mechanism via an experiment.