Exponential Stabilization of a Wheeled Mobile Robot Via Discontinuous ControlSource: Journal of Dynamic Systems, Measurement, and Control:;1999:;volume( 121 ):;issue: 001::page 121Author:A. Astolfi
DOI: 10.1115/1.2802429Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In the present work the problem of exponential stabilization of the kinematic and dynamic model of a simple wheeled mobile robot is addressed and solved using a discontinuous, bounded, time invariant, state feedback control law. The properties of the closed-loop system are studied in detail and its performance in presence of model errors and noisy measurements are evaluated and discussed.
keyword(s): Mobile robots , State feedback , Dynamic models , Measurement , Closed loop systems AND Errors ,
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contributor author | A. Astolfi | |
date accessioned | 2017-05-08T23:59:17Z | |
date available | 2017-05-08T23:59:17Z | |
date copyright | March, 1999 | |
date issued | 1999 | |
identifier issn | 0022-0434 | |
identifier other | JDSMAA-26252#121_1.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/121951 | |
description abstract | In the present work the problem of exponential stabilization of the kinematic and dynamic model of a simple wheeled mobile robot is addressed and solved using a discontinuous, bounded, time invariant, state feedback control law. The properties of the closed-loop system are studied in detail and its performance in presence of model errors and noisy measurements are evaluated and discussed. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Exponential Stabilization of a Wheeled Mobile Robot Via Discontinuous Control | |
type | Journal Paper | |
journal volume | 121 | |
journal issue | 1 | |
journal title | Journal of Dynamic Systems, Measurement, and Control | |
identifier doi | 10.1115/1.2802429 | |
journal fristpage | 121 | |
journal lastpage | 126 | |
identifier eissn | 1528-9028 | |
keywords | Mobile robots | |
keywords | State feedback | |
keywords | Dynamic models | |
keywords | Measurement | |
keywords | Closed loop systems AND Errors | |
tree | Journal of Dynamic Systems, Measurement, and Control:;1999:;volume( 121 ):;issue: 001 | |
contenttype | Fulltext |