Control of sliding mobile robots : a slow manifold approach
نویسندگان
چکیده
The purpose of this paper is to design and analyze feedback control laws achieving output linearization for wheeled mobile robots models taking into account small slipping effects at the wheel/ground contact point. We discuss the existence and attractivity of the slow manifold associated to any feedback control, and we show the existence of a feedback control law that achieves output linearization on the corresponding slow manifold. These results ensure the existence of a feedback control law achieving tracking of a reference trajectory. This control law takes into account the nature of the dynamics describing the contact forces but does not require any measurement of the slipping velocities. It is easily obtained under the form of a series expansion without solving any partial differential equation.
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