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A unified discontinuous state feedback controller for the path-following and the point-stabilization problems of a unicycle-like mobile robot

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

A unified kinematics model is derived for the path-following and the point-stabilization problems of a wheeled mobile robot, using a signed polar representation. The mobile target configuration is represented by the motion of a reference mobile robot which has the same kinematics constraints as the real one. Thereafter, the two problems are solved simultaneously by means of a state feedback control law which is discontinuous at the origin. Finally, simulation results are given to demonstrate the controller's effectiveness

Published in:

Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on

Date of Conference:

5-7 Oct 1997