抄録
This paper considers the problem of controlling both the position and the angle of two-wheeled nonholonomic mobile robot systems by sampled-data control. The two-wheeled nonholonomic mobile robot system is discretized directly by a zero order hold and a sampler without transformation such as a chained form, and a new discrete-time state feedback controller is presented for global exponential stabilization of the system. A time-varying discrete-time coordinate transformation is utilized to reduce the stabilization problem to a standard pole assignment problem for a controllable linear time-invariant discrete-time system. The design method is simple and straightforward. Moreover, a useful global exponential stabilization problem is solved for a two-wheeled nonholonomic mobile robot system considering the dynamics in sampled-data control system. Some simulation results are performed to validate the effectiveness of the proposed controllers.
