Practical stabilization of a mobile robot using saturated control

W.J.E. Evers, H. Nijmeijer

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

6 Citations (Scopus)
1 Downloads (Pure)


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.
Original languageEnglish
Title of host publicationConference on Decision and Control
Place of PublicationUnited States, San Diego
Publication statusPublished - 2006


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