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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. +
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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.
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15 May 2016 06:20:55 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/mm94-acc.pdf + |
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Experiments in Exponential Stabilization of a Mobile Robot Towing a Trailer + | Title |
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