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Control of wheeled mobile robots not satisfying ideal velocity constraints: A singular perturbation approach
Author(s) -
D'andréanovel B.,
Campion G.,
Bastin G.
Publication year - 1995
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4590050403
Subject(s) - control theory (sociology) , perturbation (astronomy) , robustness (evolution) , ideal (ethics) , mobile robot , singular perturbation , robot , mathematics , computer science , control (management) , physics , mathematical analysis , artificial intelligence , law , quantum mechanics , political science , biochemistry , chemistry , gene
Abstract We propose in this paper a singular perturbation formulation for mechanical systems not exactly satisfying velocity constraints. We particularize to ‘wheeled mobile robots’ which do not satisfy ideal pure rolling and nonslipping constraints. We study the robustness of static‐state linearizing feedback laws which have been obtained to solve a point tracking problem in the ideal case when constraints were satisfied.