| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 413459 | Robotics and Autonomous Systems | 2011 | 7 Pages |
Abstract
In this paper a novel kinematic model is proposed where the transformation between the robot posture and the system state is bijective. A nonlinear control law is constructed in the Lyapunov stability analysis framework. This control law achieves a global asymptotic stability of the system based on the usual requirements for reference velocities. The control law is extensively analysed and compared to some existing, globally stable control laws.
► New kinematic control law for mobile robots. ► Extended error model of the fourth order. ► Comparison of three Lyapunov-based control laws for mobile robots.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Sašo Blažič,