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Analysis and design of non-time based motion controller for mobile robots

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3 Author(s)
Kang, W. ; Dept. of Math., Naval Postgraduate Sch., Monterey, CA, USA ; Ning Xi ; Jindong Tan

A design method for non-time based tracking controller of mobile robots is presented. The new design method converts a controller designed by traditional time-based approaches to a non-time based controller using any given action reference. The stability condition of the non-time based tracking controller is developed and theoretically proved. The analysis and design methods are exemplified by a mobile robot tracking control problem. The controller has been implemented and tested in a Nomadic XR4000 mobile robot. The experimental results demonstrate the advantages of proposed method

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Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

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