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• W3022175510 abstract "This paper presents an exponentially stable controller for a two-degree-of-freedom robot with nonholonomic constraints. Although this system is controllable, it has been shown to be non-stabilizable via smooth state feedback. In [6], a particular class of piecewise continuous controllers is proposed which exponentially stabilizes the robot about the origin. Here, this approach is extended to stabilize about an arbitrary position and orientation, and to follow a path which is composed of a sequence of straight lines and circle segments, i.e. shortest paths of bounded curvature in the plane. The velocity along the path is to be specified to any desired profile, and may for instance pass through or converge to zero." @default.
• W3022175510 created "2020-05-13" @default.
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• W3022175510 creator A5024865861 @default.
• W3022175510 date "1993-01-01" @default.
• W3022175510 modified "2023-09-25" @default.
• W3022175510 title "PATH FOLLOWING AND STABILIZATION OF A MOBILE ROBOT" @default.
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• W3022175510 doi "https://doi.org/10.1016/b978-0-08-041901-5.50082-8" @default.
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