Browse wiki

From MurrayWiki
Jump to: navigation, search
Experiments in Exponential Stabilization of a Mobile Robot Towing a Trailer
Abstract In this paper we apply some recently devel …
In this paper we apply some recently developed control laws for stabilization of mechanical systems with nonholonomic constraints to an experimental system consisting of a mobile robot towing a trailer. We verify the applicability of various control laws which have appeared in the recent literature, and compare the performance of these controllers in an experimental setting. In particular, we show that time-periodic, non-smooth controllers can be used to achieve exponential stability of a desired equilibrium configuration, and that these controllers outperform smooth, time-varying control laws. We also point out several practical considerations which must be taken into account when implementing these controllers.
count when implementing these controllers.  +
Authors Robert M'Closkey and Richard M. Murray  +
Flags NoRequest  +
ID 1993g  +
Source 1994 American Control Conference  +
Tag mm94-acc  +
Title Experiments in Exponential Stabilization of a Mobile Robot Towing a Trailer +
Type Conference paper  +
Categories Papers
Modification date
This property is a special property in this wiki.
15 May 2016 06:20:55  +
URL
This property is a special property in this wiki.
http://www.cds.caltech.edu/~murray/preprints/mm94-acc.pdf  +
hide properties that link here 
Experiments in Exponential Stabilization of a Mobile Robot Towing a Trailer + Title
 

 

Enter the name of the page to start browsing from.