DocumentCode
2465786
Title
Practical stabilization of a mobile robot using saturated control
Author
Evers, Willem-Jan ; Nijmeijer, Henk
Author_Institution
Dept. of Mech. Eng., Technische Universiteit Eindhoven
fYear
2006
fDate
13-15 Dec. 2006
Firstpage
2394
Lastpage
2399
Abstract
This paper presents a new, practically stabilizing, hybrid control algorithm for a unicycle type of mobile robot. The design of this algorithm is based on a set of performance requirements and it is tested numerically and experimentally. The resulting controller is compared to three other recently developed controllers, considering (a limited amount of) measurement and input time-delays, model deviations, parameter uncertainty and measurement noise
Keywords
control nonlinearities; control system synthesis; delays; mobile robots; stability; uncertain systems; hybrid control algorithm; measurement noise; mobile robot; model deviations; parameter uncertainty; saturated control; stabilization; time-delays; unicycle type; Asymptotic stability; Fuels; Mobile robots; Noise measurement; Open loop systems; Robot control; State feedback; Testing; USA Councils; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2006 45th IEEE Conference on
Conference_Location
San Diego, CA
Print_ISBN
1-4244-0171-2
Type
conf
DOI
10.1109/CDC.2006.377359
Filename
4177131
Link To Document