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Grobal position and posture control of a two-wheeled mobile robot using a discontinuous homogeneous control

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4 Author(s)
Nakamura, H. ; Graduate Sch. of Inf. Sci., Nara Inst. of Sci. & Technol. ; Kaji, T. ; Nishitani, H. ; Yamashita, Y.

This paper focuses on the problem of global stabilization of a two-wheeled mobile robot. We propose a global exponentially stabilizing controller for a two-wheel mobile robot based on the discontinuous finite-time homogeneous controller for chained systems. Moreover, we demonstrate the effectiveness of proposed method through an experiment using a "Khepera 2" mobile robot

Published in:

Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on

Date of Conference:

28-31 Aug. 2005