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Global Stabilization of Nonholonomic Mobile Robots via a Smooth Output Feedback Time-Varying Controller | IEEE Conference Publication | IEEE Xplore

Global Stabilization of Nonholonomic Mobile Robots via a Smooth Output Feedback Time-Varying Controller


Abstract:

In this paper we report a novel output feedback controller for a class of mobile robots that exhibit nonholonomic restrictions. The control objective is to regulate the r...Show More

Abstract:

In this paper we report a novel output feedback controller for a class of mobile robots that exhibit nonholonomic restrictions. The control objective is to regulate the robot position and orientation at a given desired point. The controller is a (nonautonomous) smooth certainty equivalent PD scheme and the velocity observer is designed using the Immersion & Invariance principle. Simulations are presented to corroborate our theoretical findings.
Date of Conference: 16-19 July 2019
Date Added to IEEE Xplore: 14 November 2019
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Conference Location: Edinburgh, UK

References

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