A New Position Controller for Mobile Robots

F. Reyes, Y. Torres, J. Mendez, and J. Cid (Mexico)

Keywords

: Lyapunov function, Asymptotic sta bility, wheeled mobile robot, Control algorithms, Non linear control.

Abstract

This paper presents a new control algorithm for the position problem of wheeled mobile robots. The new controller is supported by a rigorous analysis of global asymptotic stability of the closedloop dynamics in agreement with the Lyapunov's direct method and the LaSalle's invariance principle.

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