Discontinuous Backstepping for Stabilization of Nonholonomic Mobile Robots

Tanner, H; Kyriakopoulos, K

dc.contributor.author	Tanner, H	en
dc.contributor.author	Kyriakopoulos, K	en
dc.date.accessioned	2014-03-01T02:49:08Z
dc.date.available	2014-03-01T02:49:08Z
dc.date.issued	2002	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/34343
dc.subject	nonholonomic mobile robot	en
dc.title	Discontinuous Backstepping for Stabilization of Nonholonomic Mobile Robots	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2002.1014346	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2002.1014346	en
heal.publicationDate	2002	en
heal.abstract	The paper presents a new method of performing integrator backstepping in systems that are discon- tinuous, either due to their inherent structure or be- cause of the applied control input. The proposed tech- nique is applied to the stabilization problem of the dy- namic system of a nonholonomic mobile robot. Simu- lation studies indicate that the methodology can also help	en
heal.journalName	International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2002.1014346	en