Robust full state tracking and ultimate exponential stabilization of nonholonomic wheeled mobile robots

• المؤلف الرئيسي: Xu, Guangyan.
• مؤلفون آخرون: Wang, Danwei
• التنسيق: Theses and Dissertations
• منشور في: 2008
• الموضوعات: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• الوصول للمادة أونلاين: http://hdl.handle.net/10356/3814

The object of this doctoral thesis is to develop novel theoretical results and practical techniques on the feedback control of nonholonomic wheeled mobile robots. Firstly, a brief review of previous work on the nonholonomic systems and their feedback control is provided. This is followed by the presentation of mathematical preliminaries used in the thesis.