OTHER
Piecewise continuous control for a car-like robot: implementation and experimental results
Paolo Di Giamberardino, F. Grassini, S. Monaco, D. Normand‐Cyrot
- Year
- 2002
- Citations
- 6
Abstract
The paper deals with the control of a car-like robot called MARlO, a prototype for mobile robotic studies. The piecewise continuous control strategy proposed for exact steering results from an overdimensioned digital multirate control law and its closed loop implementation on the plant modified by a suitable feedback. Simulations and experimental results show the effectiveness of the control scheme.
Keywords
PiecewiseMobile robotControl (management)Control theory (sociology)Scheme (mathematics)RobotComputer scienceControl engineeringPiecewise linear functionRobot control
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