Control of Nonholonomic Wheeled Mobile Robots by State Feedback Linearization
Authors:
- 1 December 1995
- journal article
- research article
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 14 (6) , 543-559
Abstract
We are concerned in this article with the control of wheeled mobile robots, which constitute a class of nonholonomic mech anical systems. More precisely, we are interested in solving the problem of tracking with stability of a reference trajectory, by means of linearizing "static" and "dynamic" state feedback laws. We give conditions to avoid possible singularities of the feedback laws.Keywords
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