CONTROL OF WHEELED MOBILE ROBOTS NOT SATISFYING IDEAL VELOCITY CONSTRAINTS - A SINGULAR PERTURBATION APPROACH

Authors
DANDREANOVEL B CAMPION G BASTIN G
Citation
B. Dandreanovel et al., CONTROL OF WHEELED MOBILE ROBOTS NOT SATISFYING IDEAL VELOCITY CONSTRAINTS - A SINGULAR PERTURBATION APPROACH, International journal of robust and nonlinear control, 5(4), 1995, pp. 243-267
Citations number
24
Categorie Soggetti
Controlo Theory & Cybernetics",Mathematics,"Engineering, Eletrical & Electronic
Journal title
International journal of robust and nonlinear control → ACNP
ISSN journal
10498923
Volume
5
Issue
4
Year of publication
1995
Pages
243 - 267
Database
ISI
SICI code
1049-8923(1995)5:4<243:COWMRN>2.0.ZU;2-J
Abstract
We propose in this paper a singular perturbation formulation for mecha nical systems not exactly satisfying velocity constraints. We particul arize to 'wheeled mobile robots' which do not satisfy ideal pure rolli ng and nonslipping constraints. We study the robustness of static-stat e linearizing feedback laws which have been obtained to solve a point tracking problem in the ideal case when constraints were satisfied.