Exponential stabilization of a wheeled mobile robot via discontinuous control

被引：129

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.

引用

页码：121 / 126

页数：6

共 19 条

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