Hybrid stabilizing control on a real mobile robot

Wilco Oelen, Harry Berghuis, Henk Nijmeijer, Carlos Canudas de Wit

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    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
    Original languageEnglish
    Pages (from-to)16-23
    Number of pages8
    JournalIEEE robotics & automation magazine
    Issue number2
    Publication statusPublished - 1995


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