• DocumentCode
    358902
  • Title

    Full state tracking and internal dynamics of nonholonomic wheeled mobile robots

  • Author

    Wang, Danwei ; Xu, Guangyan

  • Author_Institution
    Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
  • Volume
    5
  • fYear
    2000
  • fDate
    2000
  • Firstpage
    3274
  • Abstract
    Output tracking control and internal stability are analyzed for restricted mobile robots. Tracking error dynamics offers insights into the properties and stability of the input-output subsystem as well as the internal dynamics. Sufficient conditions for the full state tracking are developed. A type (1,1) mobile robot is studied in details and simulation results are presented to confirm the theory
  • Keywords
    mobile robots; position control; robot dynamics; tracking; full state tracking; input-output subsystem; internal dynamics; internal stability; nonholonomic wheeled mobile robots; output tracking control; restricted mobile robots; sufficient conditions; tracking error dynamics; type (1,1) mobile robot; Control systems; Error correction; Feedback control; Mobile robots; Robot kinematics; Stability; Sufficient conditions; Tracking; Trajectory; Wheels;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 2000. Proceedings of the 2000
  • Conference_Location
    Chicago, IL
  • ISSN
    0743-1619
  • Print_ISBN
    0-7803-5519-9
  • Type

    conf

  • DOI
    10.1109/ACC.2000.879170
  • Filename
    879170
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=358902