Title :
A slow manifold approach for the control of mobile robots not satisfying the kinematic constraints
Author :
Motte, Isabelle ; Campion, Guy
Author_Institution :
CESAME, Univ. Catholique de Louvain, Belgium
fDate :
12/1/2000 12:00:00 AM
Abstract :
Realistic wheeled mobile robots do not satisfy the ideal kinematic constraints because of slipping effects at the wheel/ground contact zones, The slow manifold approach allows us to design feedback control laws taking into account these dynamics and ensuring the tracking error of the closed-loop system to converge toward zero
Keywords :
closed loop systems; control system synthesis; feedback; mobile robots; robot dynamics; robot kinematics; feedback control laws; slipping effects; slow manifold approach; tracking error; wheel/ground contact zones; wheeled mobile robots; Equations; Error correction; Feedback control; Kinematics; Lagrangian functions; Mobile robots; Robot control; Robust control; Sliding mode control; Wheels;
Journal_Title :
Robotics and Automation, IEEE Transactions on
