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Free Content Pose Control of a Lake Surface Cleaning Robot Using Backstepping and Polar Coordinates

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In this paper, the stabilization control problem of a lake surface cleaning robot (LSCR) that is driven by a driving and steering mechanism is addressed. Since the LSCR has more degrees of freedom than the number of control inputs, its motion is subject to non-holonomic constraints. Generally, this kind of system cannot be asymptotically stabilized using a time-invariant smooth feedback controller in the Cartesian coordinates. A novel controller using the vector backstepping technique for controlling the position and orientation of the LSCR is presented. We first represent the pose of the LSCR by a polar coordinate system centered at the desired pose and transform the dynamics equation of the LSCR from the Cartesian coordinates to the polar coordinates. Then a feedback control law is derived to yield global asymptotic convergence of the position and orientation of the system to the desired values using the vectorial backstepping design scheme. We prove the asymptotic stability of the system under the control of the proposed method using the Lyapunov theory. Simulations have been carried out to demonstrate the performance of the proposed controller.


Document Type: Research Article


Affiliations: 1: State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, P. R. China, Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, P. R. China, School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing 100044, P. R. China;, Email: 2: Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, P. R. China

Publication date: 2010-03-01

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