DocumentCode
133042
Title
Control of two-wheeled mobile robot via homogeneous semiconcave control Lyapunov function: Verification by experimental results
Author
Kimura, Shunji ; Nakamura, Hajime
Author_Institution
Tokyo Univ. of Sci., Chiba, Japan
fYear
2014
fDate
9-12 Sept. 2014
Firstpage
1063
Lastpage
1068
Abstract
We proposed a control law of a homogeneous semiconcave control Lyapunov function for a two-wheeled mobile robot. However, we have not confirmed the effectiveness of the proposed method by an experiments. In this paper, we apply the proposed method to a Roomba, a two-wheeled mobile robot and confirm the effectiveness of the proposed method.
Keywords
Lyapunov methods; mobile robots; Lyapunov function; Roomba; homogeneous semiconcave control; two-wheeled mobile robot; Control systems; Lyapunov methods; Mobile robots; Robot kinematics; Vectors; Wheels; control Lyapunov function; mobile robot; nonlinear system;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference (SICE), 2014 Proceedings of the
Conference_Location
Sapporo
Type
conf
DOI
10.1109/SICE.2014.6935250
Filename
6935250
Link To Document