Implementation of a hybrid stabilizing controller on a mobile robot with two degrees of freedom

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

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    8 Citations (Scopus)
    50 Downloads (Pure)

    Abstract

    One of the results of a research project on mechatronics is a mobile robot, which was used as a carrier for research on the design of mechatronical systems. This mobile robot, the Mobile Autonomous Robot Twente (MART), is intended to be used as major part of a future assembly factory. In this paper the implementation on the MART-robot of a hybrid controller for stabilization of non-holonomic systems is described. Limitations of the physical model of the mechanical structure of the MART-robot lead to a number of practical problems. An interesting result given in the paper is the insight obtained into the geometrical meaning of different parameters of the controller, which allowed considerable improvements in the performance of the controller on the actual mobile robot.
    Original languageEnglish
    Title of host publicationIEEE Conference on Robotics and Automation
    Place of PublicationPiscataway, NJ, USA
    PublisherIEEE
    Pages1196-1201
    Number of pages6
    ISBN (Print)9780818653308
    DOIs
    Publication statusPublished - 8 May 1994
    Event1994 IEEE International Conference on Robotics and Automation, ICRA 1994 - San Diego, United States
    Duration: 8 May 199413 May 1994

    Publication series

    NameProceedings IEEE International Conference on Robotics and Automation
    PublisherIEEE
    Volume1994
    ISSN (Print)1050-4729

    Conference

    Conference1994 IEEE International Conference on Robotics and Automation, ICRA 1994
    Abbreviated titleICRA
    CountryUnited States
    CitySan Diego
    Period8/05/9413/05/94

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