DocumentCode
1030940
Title
Exponential control law for a mobile robot: extension to path following
Author
Sørdalen, O.J. ; De Wit, C. Canudas
Author_Institution
Div. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway
Volume
9
Issue
6
fYear
1993
fDate
12/1/1993 12:00:00 AM
Firstpage
837
Lastpage
842
Abstract
A piecewise smooth feedback control law for path following for the kinematic model of a nonholonomic mobile robot is proposed. The resulting motion can consist of stopping and reversing phases. The desired path is supposed to be composed of straight lines and arcs of circles joined at intermediate configurations. The proposed feedback control law yields exponential convergence to configurations representing stopping phases and to the terminal configuration
Keywords
feedback; kinematics; mobile robots; position control; exponential control; kinematic model; nonholonomic mobile robot; path following; piecewise smooth feedback control; reversing phases; stopping phases; Automatic control; Force control; Impedance; Kinematics; Manipulator dynamics; Mobile robots; Motion control; Orbital robotics; Robot control; Robotics and automation;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.265927
Filename
265927
Link To Document