DocumentCode
2186396
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
Volume
4
fYear
1996
fDate
22-28 Apr 1996
Firstpage
3099
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.509183
Filename
509183
Link To Document