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TECHNICAL PAPERS

Tracking and Regulation Control of a Mobile Robot System With Kinematic Disturbances: A Variable Structure-Like Approach

[+] Author and Article Information
W. E. Dixon, D. M. Dawson, E. Zergeroglu

Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915

J. Dyn. Sys., Meas., Control 122(4), 616-623 (Feb 04, 2000) (8 pages) doi:10.1115/1.1316795 History: Received February 04, 2000
Copyright © 2000 by ASME
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References

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d’Andrea-Novel,  B., Campion,  G., and Bastin,  G., 1995, “Control Of Wheeled Mobile Robots Not Satisfying Ideal Constraints: A Singular Perturbation Approach,” Int. J. Robust Nonlinear Control, 5, No. 5, pp. 243–267.
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Dixon,  W. E., Dawson,  D. M., Zergeroglu,  E., and Zhang,  F., 2000, “Robust Tracking and Regulation Control for Mobile Robots,” Int. J. Robust Nonlinear Control: Special Issue on Control of Underactuated Nonlinear Systems, 10, No. 4, pp. 199–216.
Dawson, D. M., Bridges, M., and Qu, Z., 1995, Nonlinear Control of Robotic Systems for Environmental Waste and Restoration, Prentice Hall, Englewood Cliffs, NJ.
Slotine, J. J. E., and Li, W., 1991, Applied Nonlinear Control, Prentice Hall, Englewood Cliffs, NJ.
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Figures

Grahic Jump Location
Two-dimensional kinematic wheel
Grahic Jump Location
Desired Cartesian trajectory
Grahic Jump Location
Position/orientation tracking errors
Grahic Jump Location
Position/orientation regulation errors
Grahic Jump Location
Regulation control input
Grahic Jump Location
Position/orientation tracking errors
Grahic Jump Location
Position/orientation regulation errors
Grahic Jump Location
Regulation control input
Grahic Jump Location
Position/orientation regulation errors
Grahic Jump Location
Regulation control input

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