Please use this identifier to cite or link to this item: http://repositorio.unicamp.br/jspui/handle/REPOSIP/92059
Type: Artigo de evento
Title: Optimal Linear State Feedback Time-varying Regulator For A Unicycle Mobile Robot
Author: Rafikova E.
Kurka P.R.G.
Raflkov M.
Abstract: This paper proposes an optimal time-varying linear state feedback control for wheeled mobile robot of the unicycle type. The control law that stabilizes exponentially the motion of the robot to a given desired trajectory is found, after transformation of the cinematic model of the robot into a well-known Brocket integrator [1] Numerical simulations are presented in order to demonstrate the effectiveness of the proposed control design. Copyright © 2008 by ASME.
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Rights: fechado
Identifier DOI: 
Address: http://www.scopus.com/inward/record.url?eid=2-s2.0-70349151025&partnerID=40&md5=2cd3e6ed78e0481c9a56084e09e7ab08
Date Issue: 2009
Appears in Collections:Unicamp - Artigos e Outros Documentos

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