Kinematic and dynamic control of a wheeled mobile robot

David DeVon, Timothy Bretl

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages4065-4070
Number of pages6
DOIs
StatePublished - Dec 1 2007
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: Oct 29 2007Nov 2 2007

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period10/29/0711/2/07

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint Dive into the research topics of 'Kinematic and dynamic control of a wheeled mobile robot'. Together they form a unique fingerprint.

Cite this