Robust path-following control with exponential stability for mobile robots

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 4_1998, Issue , 1998, Pages 3279-3284

  Aguilar, L E ^a   Soueres, P ^a   Courdesses, M ^a   Fleury, S ^a  

^a CNRS   (France)

Author keywords

[No Author keywords available]

Indexed keywords

KINEMATICS; COLLISION AVOIDANCE; CONTROL SYSTEM SYNTHESIS; CONVERGENCE OF NUMERICAL METHODS; MATHEMATICAL MODELS; MOTION PLANNING; POSITION CONTROL; ROBUSTNESS (CONTROL SYSTEMS); SYSTEM STABILITY;

AUXILIARY VARIABLES; CHANGE OF VARIABLES; CONTROL ROBUSTNESS; EXPONENTIAL CONVERGENCE; NON-HOLONOMIC MOBILE ROBOTS; PATH FOLLOWING CONTROL; PATH FOLLOWING CONTROLLER; POSITION AND ORIENTATION ERROR;

MOBILE ROBOTS;

EXPONENTIAL STABILITY; ROBUST PATH FOLLOWING CONTROL;

EID: 0031644173     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.680944     Document Type: Conference Paper

References (7)

1. L. Aguilar, T. Hamel, P. Souitres "Robust Path Following Control for Wheeled Robots via Sliding Mode Techniques" in Proc. of the IEEE International Conference on Intelligent Robots and Systems, IROS'97, Grenoble, France, Sept. 1997.
2. C. Canudas, H.Khennouf, C. Samson, and O.J. Sordalen, "Nonlinear Control Design for Mobile Robots" In Recent Rends in Mobile Robots. World Scientific Series in Robotics and Automated Systems, Vol. ll, pp121-156., 1993.
3. S. Fleury, P. SouBres, J-P. Laumond, R. Chatila, "Primitives for Smoothing Mobile Robot Trajectories, " IEEE fiansaction on Robotics and Automation, Vol. 11, No 3, June 1995.
4. T. Hamel, D. Meizel. "Robust control laws for wheeled mobile robots. In International Journal of Systems Science, volume 27, No 8, pages 695-704, 1996.
5. T. Hamel, P. Souitres, D. Meizel, "A Two-steps Robust Path-following Controller for Wheeled Robots", In Proc. of the gh Symposium on Robot Control, SYROC0' 97, Nantes, France, September 1997.
6. C. Samson, "Path Following and Time-varing Feedback Stabilization of a Wheeled Mobile Robot". In Proc. of ICARCV'92, pp RO-13.1.1-13.1.5, Singapore, Septembre 1992.
7. C. Samson, "Control of Chained Systems. Application to Path Following and Time-Varying Point Stabilization of Mobile Robots, " IEEE Transaction on Automatic Control, Vol 40, No 1, Jan. 1995.