Passivity-Based Control for Two-Wheeled Robot Stabilization
نویسندگان
چکیده
منابع مشابه
Passivity-Based Switching Control for Stabilization of Wheeled Mobile Robots
We propose a novel switching control law for the posture stabilization of a wheeled mobile robot, that utilizes the (energetic) passivity of the system's open-loop dynamics with non-negligible inertial effects. The proposed passivity-based switching control law ensures that the robot's (x, y)-position enters into an arbitrarily small (as speci ed by user-designed error-bound) level set of a cer...
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ژورنال
عنوان ژورنال: Journal of Physics: Conference Series
سال: 2018
ISSN: 1742-6588,1742-6596
DOI: 10.1088/1742-6596/1007/1/012056