Stable Switching Control of Wheeled Mobile Robots

MARCOS TOIBERO; FLAVIO ROBERTI; FERNANDO A. AUAT CHHEIN; CARLOS M SORIA; RICARDO CARELLI

Mobile Robots Navigation

In­tech

Año: 2010; p. 379 - 400

This Chapter addresses the wheeled autonomous mobile robots navigation problem starting from very simple solutions which are used to solve more complex tasks. This way, it is considered a hybrid (discrete-time/continuous-time) approach, composed by several individual continuous controllers, each of them solving a particular navigation problem, but when are considered as a whole constitute a new approach for more demanding navigation challenges. The discrete part of this system is compound by a high order supervisor, which gives the logic switching. In particular, this Chapter deals with Switching Systems, which are hybrid system characterized by the fact that only a unique controller could be active at any time. This kind of control architecture presents some benefits as for example the modularity and the possibility to analyze the whole system behavior, allowing the designer to conclude stability. It also allows, conversely, decomposing a given task in simpler subtasks which could be treated separately in order to facilitate the design process.