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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
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.doi10.1109/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.centerFacultades y escuelas::E.T.S. de Ingeniería Informática
dc.relation.departmentInformática y Automática
dc.rightsAtribución-NoComercial-SinDerivadas 4.0 Internacional
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0
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.typeartículoes
dc.typejournal articleen
dspace.entity.typePublication
person.familyNameFábregas Acosta
person.familyNameAranda Escolástico
person.familyNameChaos García
person.familyNameDormido Canto
person.givenNameErnesto
person.givenNameErnesto
person.givenNameDictino
person.givenNameSebastián
person.identifier.orcid0000-0003-4478-6626
person.identifier.orcid0000-0003-0801-9286
person.identifier.orcid0000-0003-0132-785X
person.identifier.orcid0000-0001-7652-5338
relation.isAuthorOfPublication04fadb3a-7297-4110-ae10-c2397dd66eb4
relation.isAuthorOfPublication19c0c538-4e7e-4de5-afd9-6ff1a8bbf88e
relation.isAuthorOfPublication18d715ed-9aa0-4e6c-bb27-fb30fa2af05d
relation.isAuthorOfPublicationf5f57d8a-f3c0-40a1-a93c-80d6237a2bcb
relation.isAuthorOfPublication.latestForDiscovery04fadb3a-7297-4110-ae10-c2397dd66eb4
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