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Nonlinear feedback control

  • Carlos Canudas de Wit
  • Bruno Siciliano
  • Georges Bastin
Part of the Communications and Control Engineering book series (CCE)

Abstract

The previous chapter has been devoted to solving point and posture tracking problems by state feedback linearization for the five generic types of wheeled mobile robots. However, as it has been already mentioned, feedback linearization through regular controllers has serious limitations for control of mobile robots. In particular, it does not allow a robot to be stabilized about a fixed point in the configuration space.

Keywords

Mobile Robot Exponential Stabilization Nonholonomic System Tracking Problem Chained Form 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag London Limited 1990

Authors and Affiliations

  • Carlos Canudas de Wit
    • 1
  • Bruno Siciliano
    • 2
  • Georges Bastin
    • 3
  1. 1.Laboratoire d’Automatique de Grenoble, École Nationale Supérieure d’Ingénieurs Electriciens de Grenoble Rue de la Houille BlancheDomaine UniversitaireSaint-Martin-d’HèresFrance
  2. 2.Dipartimento di Informatica e SistemisticaUniversità degli Studi di Napoli Federico IINapoliItaly
  3. 3.Centre d’Ingénierie des Systèmes, d’Automatique et de Mécanique AppliquéeUniversité Catholique de LouvainLouvain-la-NeuveBelgium

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