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Guiding functions in application to feedback control of a robotic platform

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2 Author(s)
Michalska, H. ; Dept. of Electr. Eng., McGill Univ., Montreal, Que., Canada ; Rehman, F.U.

This paper presents a novel, systematic approach to the construction of feedback control for stabilization to a set point of drift free systems. The method relies on the introduction of a set of guiding functions whose sum vanishes only at the reference set point. The guiding functions are not Lyapunov functions, however, a comparison of their values allows one to determine a desired direction of system motion and permits construction of a sequence of controls such that the sum of the guiding functions decreases in an average sense. The method is applied to control a model of a four wheeled platform which can serve as a support for a mobile robot

Published in:

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

Date of Conference:

22-28 Apr 1996