Actas de congresos
Optimal Linear State Feedback Time-varying Regulator For A Unicycle Mobile Robot
Registro en:
9780791848364
2008 Proceedings Of The 9th Biennial Conference On Engineering Systems Design And Analysis. , v. 4, n. , p. 423 - 429, 2009.
2-s2.0-70349151025
Autor
Rafikova E.
Kurka P.R.G.
Raflkov M.
Institución
Resumen
This paper proposes an optimal time-varying linear state feedback control for wheeled mobile robot of the unicycle type. The control law that stabilizes exponentially the motion of the robot to a given desired trajectory is found, after transformation of the cinematic model of the robot into a well-known Brocket integrator [1] Numerical simulations are presented in order to demonstrate the effectiveness of the proposed control design. Copyright © 2008 by ASME. 4
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