Transcription of NONLINEAR PATH CONTROL FOR A DIFFERENTIAL DRIVE …
{{id}} {{{paragraph}}}
Example: biology
NONLINEAR PATH CONTROL FOR A DIFFERENTIAL DRIVE …
RECENT, Vol. 11, no. 1(28), March, 2010 41 NONLINEAR PATH CONTROL FOR A DIFFERENTIAL DRIVE mobile robot Plamen PETROV, Lubomir DIMITROV Technical University of Sofia, Bulgaria Abstract. A NONLINEAR feedback path controller for a DIFFERENTIAL DRIVE mobile robot is presented in this paper. First, a kinematic model in error coordinates expressed in a moving reference frame partially linked to the robot is developed. The CONTROL law is designed using backstepping method yielding exponential stability of the closed-loop system. Stability analysis is performed via Lyapunov stability theory.
RECENT , Vol. 11, no. 1(28), March, 2010 41 NONLINEAR PATH CONTROL FOR A DIFFERENTIAL DRIVE MOBILE ROBOT Plamen PETROV, Lubomir DIMITROV Technical University of Sofia, Bulgaria
Loading..
Tags:
Information
Domain:
Source:
Link to this page:
Please notify us if you found a problem with this document:
Related search queries
Lyapunov, Stability, Power System Analysis, International Journal of Control, Automation, International Journal of Contro l, MATHEMATICAL MODELING AND ORDINARY, MATHEMATICAL MODELING AND ORDINARY DIFFERENTIAL EQUATIONS, Differential Equations Nonlinear Systems of, Differential Equations, Design Of Fuzzy Controllers