{"title":"基于光滑输出反馈时变控制器的非完整移动机器人全局镇定","authors":"J. G. Romero, Emmanuel Nuño","doi":"10.1109/ICCA.2019.8899640","DOIUrl":null,"url":null,"abstract":"In this paper we report a novel output feedback controller for a class of mobile robots that exhibit nonholonomic restrictions. The control objective is to regulate the robot position and orientation at a given desired point. The controller is a (nonautonomous) smooth certainty equivalent PD scheme and the velocity observer is designed using the Immersion & Invariance principle. Simulations are presented to corroborate our theoretical findings.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Global Stabilization of Nonholonomic Mobile Robots via a Smooth Output Feedback Time-Varying Controller\",\"authors\":\"J. G. Romero, Emmanuel Nuño\",\"doi\":\"10.1109/ICCA.2019.8899640\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper we report a novel output feedback controller for a class of mobile robots that exhibit nonholonomic restrictions. The control objective is to regulate the robot position and orientation at a given desired point. The controller is a (nonautonomous) smooth certainty equivalent PD scheme and the velocity observer is designed using the Immersion & Invariance principle. Simulations are presented to corroborate our theoretical findings.\",\"PeriodicalId\":130891,\"journal\":{\"name\":\"2019 IEEE 15th International Conference on Control and Automation (ICCA)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-07-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 IEEE 15th International Conference on Control and Automation (ICCA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICCA.2019.8899640\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCA.2019.8899640","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Global Stabilization of Nonholonomic Mobile Robots via a Smooth Output Feedback Time-Varying Controller
In this paper we report a novel output feedback controller for a class of mobile robots that exhibit nonholonomic restrictions. The control objective is to regulate the robot position and orientation at a given desired point. The controller is a (nonautonomous) smooth certainty equivalent PD scheme and the velocity observer is designed using the Immersion & Invariance principle. Simulations are presented to corroborate our theoretical findings.
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