Title :
Piecewise continuous control for a car-like robot: implementation and experimental results
Author :
Giamberardino, P. Di ; Grassini, F. ; Monaco, S. ; Normand-Cyrot, D.
Author_Institution :
Dipartimento di Inf. e Sistemistica, Rome Univ., Italy
Abstract :
The paper deals with the control of a car-like robot called MARlO, a prototype for mobile robotic studies. The piecewise continuous control strategy proposed for exact steering results from an overdimensioned digital multirate control law and its closed loop implementation on the plant modified by a suitable feedback. Simulations and experimental results show the effectiveness of the control scheme
Keywords :
closed loop systems; digital control; feedback; mobile robots; multidimensional systems; piecewise-linear techniques; position control; robot dynamics; robust control; MARlO; car-like robot; closed loop systems; digital multirate control; feedback; mobile robot; nonholonomic system; piecewise continuous control; steering; Control systems; Digital control; Feedback loop; Mobile robots; Open loop systems; Prototypes; Robust control; State feedback; Vehicle dynamics; Wheels;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.573725
