DocumentCode
167437
Title
Study on motion control of mobile robot based on lyapunov direct method
Author
Wang Jian-feng ; Han Liang
Author_Institution
Dept. of Electr. Eng., Xi Jing Univ., Xi´an, China
fYear
2014
fDate
8-9 May 2014
Firstpage
198
Lastpage
201
Abstract
The researches on mobile robot involve many directions, the basis of which is the motion control. By analyzing the kinematics simulation of mobile robot, this paper demonstrates the feasibility of lyapunov direct method techniques using in mobile robot motion control with the experimental subject of pionieer3DX wheeled mobile robot. And this experiment proves that this method not only can increase the adjustment ability of controller, but also can simplify the design of controller to some extent.
Keywords
Lyapunov methods; mobile robots; motion control; robot kinematics; wheels; Lyapunov direct method; Lyapunov direct method techniques; controller design; kinematic simulation analysis; motion control; pionieer3DX wheeled mobile robot; Navigation; Robots; Lyapunov controller; mobile robots; motion control;
fLanguage
English
Publisher
ieee
Conference_Titel
Electronics, Computer and Applications, 2014 IEEE Workshop on
Conference_Location
Ottawa, ON
Type
conf
DOI
10.1109/IWECA.2014.6845592
Filename
6845592
Link To Document