HYBRID STABILIZING CONTROL ON A REAL MOBILE ROBOT

被引：23
|
作者：
OELEN, W
BERGHUIS, H
NIJMEIJER, H
DEWIT, CC
机构：
[1] HOLLANDSE SIGNAALAPPARATEN BV,7550 GD HENGELO,NETHERLANDS
[2] UNIV TWENTE,DEPT APPL MATH,7500 AE ENSCHEDE,NETHERLANDS
[3] LAB AUTOMAT GRENOBLE,F-38402 ST MARTIN DHERES,FRANCE
来源：
IEEE ROBOTICS & AUTOMATION MAGAZINE | 1995年 / 2卷 / 02期
关键词：
11;
D O I：
10.1109/100.392415
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
To establish empirical verification of a stabilizing controller for non-holonomic 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.
引用
收藏
页码：16 / 23
页数：8
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