DocumentCode
706755
Title
Modeling and control of unicycle type-robots in presence of decoupled slipping and skidding effects
Author
Ellouze, M. ; D´Andrea Novel, B.
Author_Institution
Centre de Robot., Ecole des Mines de Paris, Paris, France
fYear
1999
fDate
Aug. 31 1999-Sept. 3 1999
Firstpage
2499
Lastpage
2505
Abstract
In this paper we are concerned with the control of unicycle-type wheeled mobile robots in presence of sliding effects. We elaborate two models for control purpose. In the first one, we take into account only the slipping effects. In the second model, we introduce only the skidding effects. For each model, we propose a robust control law against the sliding effects to solve a velocity tracking problem.
Keywords
mobile robots; robot kinematics; robust control; wheels; decoupled slipping; robust control law; skidding effect; sliding effect; slipping effect; unicycle type wheeled mobile robot control; velocity tracking problem; Biological system modeling; Feedback control; Force; Mobile robots; Trajectory; Wheels; Lyapunov approach; Sliding effects; Wheeled mobile robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 1999 European
Conference_Location
Karlsruhe
Print_ISBN
978-3-9524173-5-5
Type
conf
Filename
7099699
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