Title :
A time-varying-based robust control for the parking problem of a wheeled mobile robot
Author :
Tayebi, Abdelhamiid ; Rachid, Ahmed
Author_Institution :
Lab. des Syst. Autom., Univ. de Picardie-Jules Verne, Amiens, France
Abstract :
This paper deals with the parking problem of car-like mobile robots. A robust control law based on time-varying state feedback is performed via the Lyapunov direct method. The proposed control law is robust in the sense that it guarantees global boundedness of the system states under bounded state estimation uncertainties
Keywords :
Lyapunov methods; mobile robots; robust control; state feedback; time-varying systems; Lyapunov direct method; bounded state estimation uncertainties; car-like mobile robots; global boundedness; parking problem; time-varying state feedback; time-varying-based robust control; wheeled mobile robot; Algebra; Linear feedback control systems; Mobile robots; Robot sensing systems; Robust control; State estimation; State feedback; Vehicles; Velocity control; Wheels;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.509183
