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Hybrid stabilizing control on a real mobile robot

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4 Author(s)
Oelen, W. ; Mechatronics Res. Centre, Twente Univ., Enschede, Netherlands ; Berghuis, H. ; Nijmeijer, H. ; Canudas de Wit, C.

To establish empirical verification of a stabilizing controller for nonholonomic systems, the authors implement a hybrid control concept on a 2-DOF mobile robot. Practical issues of velocity control are also addressed through a velocity controller which transforms the mobile robot to a new system with linear and angular velocity inputs. Experiments in the physical meaning of different controller components provide insights which result in significant improvements in controller performance

Published in:

Robotics & Automation Magazine, IEEE  (Volume:2 ,  Issue: 2 )

Date of Publication:

Jun 1995

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