Creator:

Campion, Guy ; Bastin, Georges ; Mahony, Robert E.

Contributor:

Tchoń, Krzysztof - ed. ; Gosiewski, Anatol - ed.

Title:

Smooth feedback posture stabilization of a class of mobile robots

Subtitle:

Mathematical Methods in Robotics

Group publication title:

AMCS, volume 5 (1995)

Subject and Keywords:

sterowanie ; sterowanie-teoria ; sztuczna inteligencja ; matematyka stosowana ; informatyka

Abstract:

The problem of smooth state feedback posture stabilization of the posture kinematic models of a class of restricted mobility robots is addressed. Three techniques are presented: the first two methods (output linearization and Lyapunov design) ensure the posture stabilization with internal stability of the system while the third one (time-varying smooth state feedback) ensures the stabilization of the full state.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

1995

Resource Type:

artykuł

Pages:

263-276

Source:

AMCS, volume 5, number 2 (1995) ; click here to follow the link

Language:

eng

Rights:

Biblioteka Uniwersytetu Zielonogórskiego