A discontinuous control of a nonholonomic wheeled mobile robot

As is well known, the class of nonholonomic systems cannot be asymptotically stabilized using continuous static state feedback controls. In this paper a discontinuous control system is proposed for a wheeled mobile robot which is known as a nonholonomic system. The parameters of the controller, whic...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Sam Chau Duong, Kinjo, H., Uezato, E., Yamamoto, T.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Computational intelligence Control system synthesis Control systems control with constraints discontinuous control genetic algorithm Genetic algorithms Mobile robots Nonholonomic system Nonlinear control systems Robot control State feedback Vehicle dynamics wheeled mobile robot Wheels
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