Practical stabilization of a mobile robot using saturated control

被引：7

作者：

Evers, Willem-Jan ^{[1
]}

Nijmeijer, Henk ^{[1
]}

机构：

[1] Tech Univ Eindhoven, Dept Mech Engn, NL-5600 MB Eindhoven, Netherlands

来源：

PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14 | 2006年

关键词：

D O I：

10.1109/CDC.2006.377359

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a new, practically stabilizing, hybrid control algorithm for a unicycle type of mobile robot. The design of this algorithm is based on a set of performance requirements and it is tested numerically and experimentally. The resulting controller is compared to three other recently developed controllers, considering (a limited amount of) measurement and input time-delays, model deviations, parameter uncertainty and measurement noise.

引用

页码：2394 / 2399

页数：6

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