Title :
Control of two-wheeled mobile robot via homogeneous semiconcave control Lyapunov function: Verification by experimental results
Author :
Kimura, Shunji ; Nakamura, Hajime
Author_Institution :
Tokyo Univ. of Sci., Chiba, Japan
Abstract :
We proposed a control law of a homogeneous semiconcave control Lyapunov function for a two-wheeled mobile robot. However, we have not confirmed the effectiveness of the proposed method by an experiments. In this paper, we apply the proposed method to a Roomba, a two-wheeled mobile robot and confirm the effectiveness of the proposed method.
Keywords :
Lyapunov methods; mobile robots; Lyapunov function; Roomba; homogeneous semiconcave control; two-wheeled mobile robot; Control systems; Lyapunov methods; Mobile robots; Robot kinematics; Vectors; Wheels; control Lyapunov function; mobile robot; nonlinear system;
Conference_Titel :
SICE Annual Conference (SICE), 2014 Proceedings of the
Conference_Location :
Sapporo
DOI :
10.1109/SICE.2014.6935250
