DocumentCode
114212
Title
Shared-control for the kinematic model of a mobile robot
Author
Jingjing Jiang ; Astolfi, Alessandro
Author_Institution
Dept. of Electr. & Electron. Eng., Imperial Coll. London, London, UK
fYear
2014
fDate
15-17 Dec. 2014
Firstpage
62
Lastpage
67
Abstract
This paper presents a shared-control algorithm for the kinematic model of a mobile robot. The set of feasible position of the robot is defined by a group of linear inequalities. The shared-control strategy is based on a hysteresis switch and its properties are established by a Lyapunov-like analysis. Simulation results illustrate the effectiveness of the algorithm.
Keywords
Lyapunov methods; hysteresis; mobile robots; robot kinematics; Lyapunov-like analysis; hysteresis switch; linear inequalities; mobile robot kinematic model; shared-control algorithm; Adaptive control; Equations; Kinematics; Mobile robots; Robot kinematics; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on
Conference_Location
Los Angeles, CA
Print_ISBN
978-1-4799-7746-8
Type
conf
DOI
10.1109/CDC.2014.7039360
Filename
7039360
Link To Document