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Proceedings Paper

Time-varying feedback stabilization of tracked mobile robot
Author(s): Meng Ji; Zhenguo Sun; Junbo Wang; Qiang Chen
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Paper Abstract

This paper presents a time-varying feedback controller for stabilization of tracked mobile robot. Considering its nonholonomic property, we first transform the TMR kinematics into a advantageous model. Then the principle of exponential stabilization is discussed using a Lyapunov-type argument. The back-stepping technique is applied to obtain a global exponential regulator for the TMR model and simulation results are given.

Paper Details

Date Published: 18 February 2002
PDF: 8 pages
Proc. SPIE 4573, Mobile Robots XVI, (18 February 2002); doi: 10.1117/12.457447
Show Author Affiliations
Meng Ji, Tsinghua Univ. (United States)
Zhenguo Sun, Tsinghua Univ. (China)
Junbo Wang, Tsinghua Univ. (China)
Qiang Chen, Tsinghua Univ. (China)

Published in SPIE Proceedings Vol. 4573:
Mobile Robots XVI
Douglas W. Gage; Howie M. Choset, Editor(s)

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