Practical stabilization of a mobile robot using saturated control

W.J.E. Evers; H. Nijmeijer

Practical stabilization of a mobile robot using saturated control

W.J.E. Evers
, H. Nijmeijer

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

8 Citations (Scopus)

1 Downloads (Pure)

Abstract

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 language	English
Title of host publication	Conference on Decision and Control
Place of Publication	United States, San Diego
Pages	2394-2399
Publication status	Published - 2006

Cite this

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title = "Practical stabilization of a mobile robot using saturated control",

abstract = "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.",

author = "W.J.E. Evers and H. Nijmeijer",

year = "2006",

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booktitle = "Conference on Decision and Control",

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AB - 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.

M3 - Conference contribution

SP - 2394

EP - 2399

BT - Conference on Decision and Control

CY - United States, San Diego

ER -

Practical stabilization of a mobile robot using saturated control

Abstract

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