Hybrid stabilizing control on a real mobile robot

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

doi:10.1109/100.392415

Hybrid stabilizing control on a real mobile robot

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

Research output: Contribution to journal › Article › Academic › peer-review

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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

Original language	English
Pages (from-to)	16-23
Number of pages	8
Journal	IEEE robotics & automation magazine
Volume	2
Issue number	2
DOIs	https://doi.org/10.1109/100.392415
Publication status	Published - 1995

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Oelen1995hybridFinal published version, 861 KB

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title = "Hybrid stabilizing control on a real mobile robot",

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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AB - 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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DO - 10.1109/100.392415

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JO - IEEE robotics & automation magazine

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Hybrid stabilizing control on a real mobile robot

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