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|Type:||Artigo de evento|
|Title:||Optimal Linear State Feedback Time-varying Regulator For A Unicycle Mobile Robot|
|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  Numerical simulations are presented in order to demonstrate the effectiveness of the proposed control design. Copyright © 2008 by ASME.|
|Appears in Collections:||Unicamp - Artigos e Outros Documentos|
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