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

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

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 pre...

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Bibliographic Details
Main Author: Xu, Guangyan.
Other Authors: Wang, Danwei
Format: Theses and Dissertations
Published: 2008
Subjects:
DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Online Access:http://hdl.handle.net/10356/3814
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Institution: Nanyang Technological University
Description
Summary: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.

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