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A time-varying-based robust control for the parking problem of a wheeled mobile robot

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2 Author(s)
Tayebi, A. ; Lab. des Syst. Autom., Univ. de Picardie-Jules Verne, Amiens, France ; Rachid, A.

This paper deals with the parking problem of car-like mobile robots. A robust control law based on time-varying state feedback is performed via the Lyapunov direct method. The proposed control law is robust in the sense that it guarantees global boundedness of the system states under bounded state estimation uncertainties

Published in:

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference:

22-28 Apr 1996