18 February 2002 Time-varying feedback stabilization of tracked mobile robot
Author Affiliations +
Proceedings Volume 4573, Mobile Robots XVI; (2002) https://doi.org/10.1117/12.457447
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States
Abstract
This paper presents a time-varying feedback controller for stabilization of tracked mobile robot. Considering its nonholonomic property, we first transform the TMR kinematics into a advantageous model. Then the principle of exponential stabilization is discussed using a Lyapunov-type argument. The back-stepping technique is applied to obtain a global exponential regulator for the TMR model and simulation results are given.
© (2002) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Meng Ji, Zhenguo Sun, Junbo Wang, Qiang Chen, "Time-varying feedback stabilization of tracked mobile robot", Proc. SPIE 4573, Mobile Robots XVI, (18 February 2002); doi: 10.1117/12.457447; https://doi.org/10.1117/12.457447
PROCEEDINGS
8 PAGES


SHARE
RELATED CONTENT


Back to Top