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Article: Analysis and design of non-time based motion controller for mobile robots
Title | Analysis and design of non-time based motion controller for mobile robots |
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Authors | |
Issue Date | 1999 |
Citation | Proceedings - IEEE International Conference on Robotics and Automation, 1999, v. 4, p. 2964-2969 How to Cite? |
Abstract | A 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 Identifier | http://hdl.handle.net/10722/212701 |
ISSN | 2023 SCImago Journal Rankings: 1.620 |
DC Field | Value | Language |
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dc.contributor.author | Kang, Wei | - |
dc.contributor.author | Xi, Ning | - |
dc.contributor.author | Tan, Jindong | - |
dc.date.accessioned | 2015-07-28T04:04:44Z | - |
dc.date.available | 2015-07-28T04:04:44Z | - |
dc.date.issued | 1999 | - |
dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, 1999, v. 4, p. 2964-2969 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10722/212701 | - |
dc.description.abstract | A 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.language | eng | - |
dc.relation.ispartof | Proceedings - IEEE International Conference on Robotics and Automation | - |
dc.title | Analysis and design of non-time based motion controller for mobile robots | - |
dc.type | Article | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.scopus | eid_2-s2.0-0032668571 | - |
dc.identifier.volume | 4 | - |
dc.identifier.spage | 2964 | - |
dc.identifier.epage | 2969 | - |
dc.identifier.issnl | 1050-4729 | - |