OTHER
Modelling and control of non-holonomic wheeled mobile robots
Brigitte d’Andréa-Novel, Georges Bastin, G. Campion
- Year
- 2002
- Citations
- 154
Abstract
A general dynamical model is derived for three-wheel mobile robots with nonholonomic constraints by using a Lagrange formulation and differential geometry. It is shown that a static state feedback allows one to reduce the dynamics of the system to a form in which stabilizing input-output linearizing control is possible.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Keywords
HolonomicMobile robotNonholonomic systemHolonomic constraintsRobotComputer scienceControl theory (sociology)Differential (mechanical device)State (computer science)Control (management)
Related papers
OTHER
📊 26,957 cites
Statistical Learning Theory
Yuhai Wu, Vladimir Vapnik
1999
PERCEPTION
📊 22,245 cites
Artificial intelligence: a modern approach
1995
OTHER
Open access📊 20,501 cites
Fractional Differential Equations
Igor Podlubný
2025
OTHER
📊 18,993 cites
Applied Nonlinear Control
Jean-Jacques Slotine, Weiping Li
1991