Grobal position and posture control of a two-wheeled mobile robot using a discontinuous homogeneous control

被引：0

作者：

Nakamura, H ^{[1
]}

Kaji, T ^{[1
]}

Nishitani, H ^{[1
]}

Yamashita, Y ^{[1
]}

机构：

[1] Nara Inst Sci & Technol, Grad Sch Informat Sci, Nara 6300192, Japan

来源：

2005 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA), VOLS 1AND 2 | 2005年

关键词：

stabilization; mobile robot; nonholonomic system; nonlinear control;

D O I：

暂无

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 focuses on the problem of global stabilization of a two-wheeled mobile robot. We propose a global exponentially stabilizing controller for a two-wheel mobile robot based on the discontinuous finite-time homogeneous controller for chained systems. Moreover, we demonstrate the effectiveness of proposed method through an experiment using a "Khepera 2" mobile robot.

引用

页码：1569 / 1574

页数：6

共 16 条

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