TY - GEN
T1 - Kinematic and dynamic control of a wheeled mobile robot
AU - DeVon, David
AU - Bretl, Timothy
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=51349098828&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349098828&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399599
DO - 10.1109/IROS.2007.4399599
M3 - Conference contribution
AN - SCOPUS:51349098828
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4065
EP - 4070
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -