A backstepping approach to control a nonholonomic mobile robot

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 2002, Pages 3972-3977

  Kozlowski, Krzysztof ^a   Majchrzak, Jaroslaw ^a  

^a POZNAN UNIVERSITY OF TECHNOLOGY   (Poland)

Author keywords

Lyapunov function; Mobile robot; Time varying controller

Indexed keywords

ALGORITHMS; ASYMPTOTIC STABILITY; COMPUTER SIMULATION; CONSTRAINT THEORY; KINEMATICS; LYAPUNOV METHODS; MATRIX ALGEBRA; MOTION CONTROL; ROBUSTNESS (CONTROL SYSTEMS); SYSTEM STABILITY; TIME VARYING CONTROL SYSTEMS; UNCERTAIN SYSTEMS;

NONHOLONOMIC MOBILE ROBOT; TRAJECTORY TRACKING CONTROL;

MOBILE ROBOTS;

EID: 0036057533     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (8)

1. Asymptotic stabilization of nonholonomic systems with discontinuous control
2. Asymptotic stability and feedback stabilization
3. Global exponential setpoint control of wheeled mobile robots; a Lyapunov approach
4. Global exponential tracking control of a mobile robot system via a PE condition
5. Robust tracking and regulation control for mobile robots
6. Robust tracking of manipulators subject to control constraints
7. A new control algorithm for a nonholonomic mobile robot
8. Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift