Title :
A hybrid strategy for the feedback stabilization of nonholonomic mobile robots
Author :
Pomet, J.-B. ; Thuilot, B. ; Bastin, G. ; Campion, G.
Author_Institution :
Center for Syst. Eng. & Appl. Mech., Univ. Catholique de Louvain, Belgium
Abstract :
A hybrid strategy for the control of nonholonomic mobile robots is proposed and assessed, using both theoretical arguments and simulation experiments. The control law is a discontinuous state feedback that combines the advantages of time-invariant smooth feedback control far from the target and of time-varying smooth feedback control close to the target, while avoiding their respective drawbacks
Keywords :
feedback; mobile robots; stability; discontinuous state feedback; feedback stabilization; hybrid strategy; nonholonomic mobile robots; time-invariant smooth feedback control; time-varying smooth feedback control; Adaptive control; Angular velocity control; Feedback control; Mobile robots; Modeling; Orbital robotics; Robot kinematics; State feedback; State-space methods; Systems engineering and theory;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220323
