• DocumentCode
    3622043
  • Title

    Stabilization of two-wheeled mobile robot using smooth control laws - experimental study

  • Author

    K. Kozlowski;D. Pazderski

  • Author_Institution
    Chair of Control & Syst. Eng., Poznan Tech. Univ.
  • fYear
    2006
  • fDate
    6/28/1905 12:00:00 AM
  • Firstpage
    3387
  • Lastpage
    3392
  • Abstract
    The paper presents a comparison of selected smooth and time-differentiable control laws used for stabilization of nonholonomic two-wheeled mobile robot. The significant part of the research is concentrated on application of these algorithms in resolving parallel parking problem. Some remarks concerning tuning of the controllers and their robustness to the delay in control loop are given
  • Keywords
    "Mobile robots","Robot control","Robot kinematics","Control systems","Vectors","Systems engineering and theory","Robust control","Delay","Wheels","Feedback"
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
  • ISSN
    1050-4729
  • Print_ISBN
    0-7803-9505-0
  • Type

    conf

  • DOI
    10.1109/ROBOT.2006.1642219
  • Filename
    1642219
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3622043