CONTROL OF NONHOLONOMIC WHEELED MOBILE ROBOTS BY STATE-FEEDBACK LINEARIZATION

Authors
DANDREANOVEL B CAMPION G BASTIN G
Citation
B. Dandreanovel et al., CONTROL OF NONHOLONOMIC WHEELED MOBILE ROBOTS BY STATE-FEEDBACK LINEARIZATION, The International journal of robotics research, 14(6), 1995, pp. 543-559
Citations number
32
Categorie Soggetti
Computer Application, Chemistry & Engineering","Controlo Theory & Cybernetics","Robotics & Automatic Control
Journal title
The International journal of robotics research → ACNP
ISSN journal
02783649
Volume
14
Issue
6
Year of publication
1995
Pages
543 - 559
Database
ISI
SICI code
0278-3649(1995)14:6<543:CONWMR>2.0.ZU;2-8
Abstract
We are concerned in this article with the control of wheeled mobile ro bots, which constitute a class of nonholonomic mechanical systems. Mor e precisely, we are interested in solving the problem of tracking with stability of a reference trajectory, by means of linearizing ''static '' and ''dynamic'' state feedback laws. We give conditions to avoid po ssible singularities of the feedback laws.