WMR control via dynamic feedback linearization: Design, implementation, and experimental validation

IEEE Transactions on Control Systems Technology

Volumn 10, Issue 6, 2002, Pages 835-852

  Oriolo, Giuseppe ^a   De Luca, Alessandro ^a   Vendittelli, Marilena ^a  

^a SAPIENZA UNIVERSITY OF ROME   (Italy)

Author keywords

Asymptotic stability; Feedback linearization; Mobile robots; Motion control; Nonholonomic systems; Nonlinear systems; Tracking

Indexed keywords

FEEDBACK CONTROL; KINEMATICS; LINEARIZATION; MOBILE ROBOTS; MOTION CONTROL; NONLINEAR CONTROL SYSTEMS; TRACKING (POSITION); TRAJECTORIES;

WHEELED MOBILE ROBOTS (WMR);

ROBUSTNESS (CONTROL SYSTEMS);

EID: 0036859110     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2002.804116     Document Type: Article

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