Hybrid stabilizing control on a real mobile robot |
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Authors: | Oelen W Berghuis H Nijmeijer H Canudas de Wit C |
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Affiliation: | Mechatronics Res. Centre, Twente Univ., Enschede ; |
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Abstract: | To establish empirical verification of a stabilizing controller for nonholonomic systems, the authors implement a hybrid control concept on a 2-DOF mobile robot. Practical issues of velocity control are also addressed through a velocity controller which transforms the mobile robot to a new system with linear and angular velocity inputs. Experiments in the physical meaning of different controller components provide insights which result in significant improvements in controller performance |
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