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Article: Analysis and design of non-time based motion controller for mobile robots

TitleAnalysis and design of non-time based motion controller for mobile robots
Authors
Issue Date1999
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 1999, v. 4, p. 2964-2969 How to Cite?
AbstractA new design method for non-time based tracking controller of mobile robots is presented. The new design method converts a controller designed by traditional time-based approaches to a non-time based controller using any given action reference. The stability condition of non-time based tracking controller is developed and theoretically proved. The analysis and design methods are exemplified by a mobile robot tracking control problem. The controller has been implemented and tested in a Nomadic XR4000 mobile robot. The experimental results demonstrate the advantages of proposed method.
Persistent Identifierhttp://hdl.handle.net/10722/212701
ISSN

 

DC FieldValueLanguage
dc.contributor.authorKang, Wei-
dc.contributor.authorXi, Ning-
dc.contributor.authorTan, Jindong-
dc.date.accessioned2015-07-28T04:04:44Z-
dc.date.available2015-07-28T04:04:44Z-
dc.date.issued1999-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 1999, v. 4, p. 2964-2969-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/212701-
dc.description.abstractA new design method for non-time based tracking controller of mobile robots is presented. The new design method converts a controller designed by traditional time-based approaches to a non-time based controller using any given action reference. The stability condition of non-time based tracking controller is developed and theoretically proved. The analysis and design methods are exemplified by a mobile robot tracking control problem. The controller has been implemented and tested in a Nomadic XR4000 mobile robot. The experimental results demonstrate the advantages of proposed method.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.titleAnalysis and design of non-time based motion controller for mobile robots-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0032668571-
dc.identifier.volume4-
dc.identifier.spage2964-
dc.identifier.epage2969-

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