In this paper, a novel approach for dynamics based stabilization of a four-wheel mobile robot is presented. One of the well-known and well-established approaches for stabilization of mobile robots is converting the kinematic model of the robot to a chained form. In order to extend this method to dynamic based stabilization, kinematic and dynamic subsystems of the mobile robot state-space model can be considered as two subsystems of a cascade and then feedback passivation of cascades can be utilized for stabilization of the whole system dynamics.
Stabilization of a Four-Wheel Mobile Robot From Kinematic Model to Dynamic Model by Feedback Passivation of Cascades Using Chained Form
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Mohammadi, H, Haghpanah, A, & Eghtesad, M. "Stabilization of a Four-Wheel Mobile Robot From Kinematic Model to Dynamic Model by Feedback Passivation of Cascades Using Chained Form." Proceedings of the ASME 2009 International Mechanical Engineering Congress and Exposition. Volume 10: Mechanical Systems and Control, Parts A and B. Lake Buena Vista, Florida, USA. November 13–19, 2009. pp. 181-185. ASME. https://doi.org/10.1115/IMECE2009-12063
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