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Control of Wheeled Mobile Robots Not Satisfying Ideal Velocity Constraints - a Singular Perturbation Approach

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Dandreanovel, B. Campion, Guy [UCL] Bastin, Georges [UCL]

We propose in this paper a singular perturbation formulation for mechanical systems not exactly satisfying velocity constraints. We particularize to 'wheeled mobile robots' which do not satisfy ideal pure rolling and nonslipping constraints. We study the robustness of static-state linearizing feedback laws which have been obtained to solve a point tracking problem in the ideal case when constraints were satisfied.

Document type Article de périodique (Journal article) – Article de recherche
Publication date 1995
Language Anglais
Journal information "International Journal of Robust and Nonlinear Control" - Vol. 5, no. 4, p. 243-267 (1995)
Peer reviewed yes
Publisher John Wiley & Sons Ltd (W Sussex)
issn 1049-8923
e-issn 1099-1239
Publication status Publié
Affiliation UCL - FSA/INMA - Département d'ingénierie mathématique
Keywords CONSTRAINED MECHANICAL SYSTEMS ; WHEELED MOBILE ROBOTS ; SINGULAR PERTURBATION
Links
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Bibliographic reference Dandreanovel, B. ; Campion, Guy ; Bastin, Georges. Control of Wheeled Mobile Robots Not Satisfying Ideal Velocity Constraints - a Singular Perturbation Approach. In: International Journal of Robust and Nonlinear Control, Vol. 5, no. 4, p. 243-267 (1995)
Permanent URL http://hdl.handle.net/2078.1/47929