Hybrid stabilizing control on a real mobile robot
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En: IEEE Robotics and automation magazine (vol. 2, nro. 2, Jun. 1995), p. 16-23S.T.:H007.52 ROBO PP2910
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.
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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.
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