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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.
Rights: fechado
Identifier DOI: 
Date Issue: 2009
Appears in Collections:Unicamp - Artigos e Outros Documentos

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