DocumentCode
1429022
Title
A slow manifold approach for the control of mobile robots not satisfying the kinematic constraints
Author
Motte, Isabelle ; Campion, Guy
Author_Institution
CESAME, Univ. Catholique de Louvain, Belgium
Volume
16
Issue
6
fYear
2000
fDate
12/1/2000 12:00:00 AM
Firstpage
875
Lastpage
880
Abstract
Realistic wheeled mobile robots do not satisfy the ideal kinematic constraints because of slipping effects at the wheel/ground contact zones, The slow manifold approach allows us to design feedback control laws taking into account these dynamics and ensuring the tracking error of the closed-loop system to converge toward zero
Keywords
closed loop systems; control system synthesis; feedback; mobile robots; robot dynamics; robot kinematics; feedback control laws; slipping effects; slow manifold approach; tracking error; wheel/ground contact zones; wheeled mobile robots; Equations; Error correction; Feedback control; Kinematics; Lagrangian functions; Mobile robots; Robot control; Robust control; Sliding mode control; Wheels;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.897800
Filename
897800
Link To Document