Control of nonholonomic mobile robots based on the transverse function approach

IEEE Transactions on Robotics

Volumn 25, Issue 5, 2009, Pages 1058-1073

  Morin, Pascal ^a   Samson, Claude ^a  

^a INRIA   (France)

Author keywords

Car; Lie group; Nonholonomic system; Stabilization; Trajectory tracking; Transverse function (TF); Unicycle; Wheeled robot

Indexed keywords

CAR; LIE GROUP; NONHOLONOMIC SYSTEM; TRAJECTORY TRACKING; TRANSVERSE FUNCTION (TF); UNICYCLE; WHEELED ROBOT;

MECHANICAL PROPERTIES; MOBILE ROBOTS; NONLINEAR CONTROL SYSTEMS; STABILIZATION; TRAJECTORIES;

FEEDBACK;

EID: 70350212555     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2009.2014123     Document Type: Article

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