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IROS
2007
IEEE

Kinematic and dynamic control of a wheeled mobile robot

9 years 10 months ago
Kinematic and dynamic control of a wheeled mobile robot
— This paper considers the problem of stabilizing a unicycle-type mobile robot using a time-invariant, discontinuous control law. In order to simplify the control design, most previous approaches neglect second-order system dynamics (compensating for them later using techniques such as partial feedback linearization). This paper shows that an approach based on invariant manifold theory can be extended to account for these dynamics. The performance of the resulting control law is demonstrated in simulation.
David DeVon, Timothy Bretl
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where IROS
Authors David DeVon, Timothy Bretl
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