Title :
Stabilization of two-wheeled mobile robot using smooth control laws - experimental study
Author :
K. Kozlowski;D. Pazderski
Author_Institution :
Chair of Control & Syst. Eng., Poznan Tech. Univ.
fDate :
6/28/1905 12:00:00 AM
Abstract :
The paper presents a comparison of selected smooth and time-differentiable control laws used for stabilization of nonholonomic two-wheeled mobile robot. The significant part of the research is concentrated on application of these algorithms in resolving parallel parking problem. Some remarks concerning tuning of the controllers and their robustness to the delay in control loop are given
Keywords :
"Mobile robots","Robot control","Robot kinematics","Control systems","Vectors","Systems engineering and theory","Robust control","Delay","Wheels","Feedback"
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1642219
