Exponential stabilization of a wheeled mobile robot via discontinuous control

被引：130
作者：
Astolfi, A [1 ]
机构：
[1] Univ London Imperial Coll Sci Technol & Med, Dept Elect & Elect Engn, London SW7 2BT, England
来源：
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1999年 / 121卷 / 01期
关键词：
D O I：
10.1115/1.2802429
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In the present work the problem of exponential stabilization of the kinematic and dynamic model of a simple wheeled mobile robot is addressed and solved using a discontinuous, bounded, time invariant, stare feedback control law. The properties of the closed-loop system are studied in detail and its performance in presence of model errors and noisy measurements are evaluated and discussed.
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页码：121 / 126
页数：6
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