Abstract
This paper is concerned with control of nonholonomic systems in the presence of parametric modeling uncertainties. The specific problem considered is that of parking a wheeled mobile robot of unicycle type with unknown parameters, whose kinematics can be described by the nonholonomic integrator after an appropriate state and control coordinate transformation. We employ the techniques of supervisory control to design a hybrid feedback control law that solves this problem.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 3520-3524 |
| Number of pages | 5 |
| Journal | Proceedings of the American Control Conference |
| Volume | 5 |
| State | Published - 1999 |
| Externally published | Yes |
| Event | Proceedings of the 1999 American Control Conference (99ACC) - San Diego, CA, USA Duration: Jun 2 1999 → Jun 4 1999 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering