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Simulation and Experimental Results of a New Control Strategy For Point Stabilization of Nonholonomic Mobile Robots

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dc.contributor.authorFarias, Gonzalo
dc.contributor.authorGarcia, Gonzalo
dc.contributor.authorDormido Bencomo, Sebastián
dc.contributor.authorFábregas Acosta, Ernesto::virtual::4114::600
dc.contributor.authorAranda Escolástico, Ernesto::virtual::4115::600
dc.contributor.authorChaos García, Dictino::virtual::4116::600
dc.contributor.authorDormido Canto, Sebastián::virtual::4117::600
dc.contributor.authorFábregas Acosta, Ernesto
dc.contributor.authorAranda Escolástico, Ernesto
dc.contributor.authorChaos García, Dictino
dc.contributor.authorDormido Canto, Sebastián
dc.contributor.authorFábregas Acosta, Ernesto
dc.contributor.authorAranda Escolástico, Ernesto
dc.contributor.authorChaos García, Dictino
dc.contributor.authorDormido Canto, Sebastián
dc.contributor.authorFábregas Acosta, Ernesto
dc.contributor.authorAranda Escolástico, Ernesto
dc.contributor.authorChaos García, Dictino
dc.contributor.authorDormido Canto, Sebastián
dc.date.accessioned2024-05-20T11:34:14Z
dc.date.available2024-05-20T11:34:14Z
dc.date.issued2019-08-22
dc.description.abstractThis article presents a closed-loop position control of a mobile robot, which is capable of moving from its current position to a target point by manipulating its linear and angular velocities. The main objective of this article is to modify an existing control law based on the kinematic model to improve the response when the robot is backwards oriented and to reach the destination point in less time and with a shorter trajectory. Stability of the proposed control law is validated by Lyapunov Criterion. Some procedures are implemented to test this approach both in simulation with MATLAB, and experimentally with the Khepera IV robot.en
dc.description.versionversión final
dc.identifier.doihttp://doi.org/10.1109/TIE.2019.2935976
dc.identifier.issn1557-9948
dc.identifier.urihttps://hdl.handle.net/20.500.14468/12238
dc.journal.issue8
dc.journal.titleIEEE Transactions on Industrial Electronics
dc.journal.volume67
dc.language.isoen
dc.publisherIEEE
dc.relation.centerE.T.S. de Ingeniería Informática
dc.relation.departmentInformática y Automática
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rights.urihttps://creativecommons.org/licenses/by-nc-nd/4.0/deed.es
dc.subject.keywordsdifferential wheeled mobile robots
dc.subject.keywordsposition control
dc.titleSimulation and Experimental Results of a New Control Strategy For Point Stabilization of Nonholonomic Mobile Robotses
dc.typejournal articleen
dc.typeartículoes
dspace.entity.typePublication
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