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

页码：16 / 23

页数：8

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