Hybrid stabilizing control on a real mobile robot


Oelen, W. and Berghuis, H. and Nijmeijer, H. and Canudas de wit, C. (1995) Hybrid stabilizing control on a real mobile robot. IEEE Robotics & Automation Magazine, 2 (2). pp. 16-23. ISSN 1070-9932

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Abstract:To establish empirical verification of a stabilizing controller for nonholonomic systems, the authors implement a hybrid control concept on a 2-DOF mobile robot. Practical issues of velocity control are also addressed through a velocity controller which transforms the mobile robot to a new system with linear and angular velocity inputs. Experiments in the physical meaning of different controller components provide insights which result in significant improvements in controller performance
Item Type:Article
Copyright:©1995 IEEE
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Link to this item:http://purl.utwente.nl/publications/14820
Official URL:http://dx.doi.org/10.1109/100.392415
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