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- W2187849760 abstract "Among control problems for mobile robots, point-to-point stabilization is the mostchallenging since it does not admit designs with smooth static state feedback laws.Stabilization strategies for mobile robots, and nonholonomic systems generally, aresmooth, time-varying or nonsmooth, time-invariant. Time-varying control strategiesare designed with umdamped linear oscillators but their fixed structure offer limitedflexibility in control design. The central theme of this paper lies in use of nonlinearoscillators for mobile robot control. Large numbers of qualitatively different controlstrategies can be designed using nonlinear oscillators since stiffness and damping canbe functions of robot states. We demonstrate by designing two fundamentally differ-ent controllers for two-wheeled mobile robot using two variants of a particularnonlinear oscillator. First controller is dynamic and generates smooth control action." @default.
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- W2187849760 date "1999-01-01" @default.
- W2187849760 modified "2023-09-26" @default.
- W2187849760 title "Feedback Control Strategies for a Nonholonomic Mobile Robot Using a" @default.
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