Exponential Stabilization of a Wheeled Mobile Robot Via Discontinuous Control
- 1 March 1999
- journal article
- Published by ASME International in Journal of Dynamic Systems, Measurement, and Control
- Vol. 121 (1) , 121-126
- https://doi.org/10.1115/1.2802429
Abstract
In the present work the problem of exponential stabilization of the kinematic and dynamic model of a simple wheeled mobile robot is addressed and solved using a discontinuous, bounded, time invariant, state feedback control law. The properties of the closed-loop system are studied in detail and its performance in presence of model errors and noisy measurements are evaluated and discussed.Keywords
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