Exponential stabilization of a wheeled mobile robot via discontinuous control

Authors
Astolfi, A
Citation
A. Astolfi, Exponential stabilization of a wheeled mobile robot via discontinuous control, J DYN SYST, 121(1), 1999, pp. 121-126
Citations number
19
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
ISSN journal
00220434 → ACNP
Volume
121
Issue
1
Year of publication
1999
Pages
121 - 126
Database
ISI
SICI code
0022-0434(199903)121:1<121:ESOAWM>2.0.ZU;2-A
Abstract
In the present work the problem of exponential stabilization of the kinemat ic and dynamic model of a simple wheeled mobile robot is addressed and solv ed using a discontinuous, bounded, time invariant, stare feedback control l aw. The properties of the closed-loop system are studied in detail and its performance in presence of model errors and noisy measurements are evaluate d and discussed.