Practical stabilization of a skid-steering mobile robot - A kinematic-based approach

2006 IEEE International Conference on Mechatronics, ICM

Volumn , Issue , 2006, Pages 519-524

  Kozłowski, Krzysztof ^a   Pazderski, Dariusz ^a  

^a POZNAN UNIVERSITY OF TECHNOLOGY   (Poland)

Author keywords

[No Author keywords available]

Indexed keywords

DYNAMIC MODELS; LYAPUNOV METHODS; TIME VARYING SYSTEMS; VELOCITY MEASUREMENT;

SIGNAL SATURATION; TIME VARYING STABILIZERS; WHEEL SURFACE INTERACTION;

MOBILE ROBOTS;

EID: 34250796930     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICMECH.2006.252581     Document Type: Conference Paper

References (9)

1. R. W. Brockett, "Asymptotic stability and feedback stabilization", Differential Geometric Control Theory edited by R. W. Brockett, R. S. Milman and H. J. Susmann, Birkhauser, Boston, pp. 181-191, 1983.
2. L. Caracciolo, A. De Luca, S. Iannitti, "Trajectory tracking control of a four-wheel differentially driven mobile robot", IEEE Int. Conf. on Robotics and Automation, Detroit, MI, pp. 2632-2638, May 1999.
3. O. Campion, O. Bastin, B. D'Andrea-Novel, "Structural Properties and Classification of Kinematic and Dynamic Models of Wheeled Mobile Robots", IEEE Transactions on Robotics and Automation, Vol. 12, No. 1, pp. 47-62, February 1996.
4. W. E. Dixon, D. M. Dawson, E. Zergeroglu and A. Behal, Nonlinear Control of Wheeled Mobile Robots, Springer-Verlag, 2001.
5. P. Morin, C. Samson, "Practical Stabilization of Driftless Systems on Lie Groups: The Transverse Function Approach", IEEE Transactions on Automatic Control, Vol. 48, No.9, pp. 1496-1508, September 2003.
6. P. Morin, C. Samson, "Field oriented control of induction motors by application of the transverse function control approach", Proc. of the 42nd IEEE Conference on Decision and Control, pp. 5921-5926, 2003.
7. th International Symposium on Robotics, Paris, 2004.
8. K. Kozłowski and D. Pazderski. "Modelling and control of 4-wheel skidsteering mobile robot", International Journal of Applied Mathematics and Computer Sciences, Vol. 14(4), pp. 477496, 2004.
9. K. Kozłowski and D. Pazderski, I. Rudas, J. Tar, "Modeling and control of a 4-wheel skid steering mobile robot: From theory to practice", Budapest Polytechnic Jubilee Conference Science in Engineering, Economics and Education, Budapest, pp. 317-330, 2004.