Referenced Items are not available for this document.
A dynamical extension that makes possible the integration of a kinematic controller and a torque controller for nonholonomic mobile robots is presented. A combined kinematic/torque control law is developed using backstepping and asymptotic stability is guaranteed by Lyapunov theory. Moreover, this control algorithm can be applied to the three basic nonholonomic navigation problems: tracking a reference trajectory, path following and stabilization about a desired posture. A general structure for controlling a mobile robot results that can accommodate different control techniques ranging from a conventional computed-torque controller, when all dynamics are known, to adaptive controllers
Published in:
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
(Volume:4
)
Date of Conference: 13-15 Dec 1995
- Page(s):
- 3805 - 3810 vol.4
- Meeting Date :
- 13 Dec 1995-15 Dec 1995
- ISSN :
- 0191-2216
- Print ISBN:
- 0-7803-2685-7
- INSPEC Accession Number:
- 5183711
- Conference Location :
- New Orleans, LA
- Digital Object Identifier :
- 10.1109/CDC.1995.479190
- Product Type:
- Conference Publications
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