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Shared control for the kinematic and dynamic models of a mobile robot

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posted on 04.02.2019 by Jingjing Jiang, Pierluigi Di Franco, Alessandro Astolfi
This paper presents shared-control algorithms for the kinematic and dynamic models of a mobile robot with a feasible configuration set defined by means of linear inequalities. The shared-control laws based on a hysteresis switch are designed in the case in which absolute positions are not available. Instead, we measure the distances to obstacles and angular differences. Formal properties of the closed-loop systems with the shared control are established by a Lyapunov-like analysis. Simulation results and experimental results are presented to show the effectiveness of the algorithm.

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Published in

IEEE Transactions on Control Systems Technology

Volume

24

Issue

6

Pages

2112 - 2124

Citation

JIANG, J., DI FRANCO, P. and ASTOLFI, A., 2016. Shared control for the kinematic and dynamic models of a mobile robot. IEEE Transactions on Control Systems Technology, 24 (6), pp.2112-2124.

Publisher

© Institute of Electrical and Electronics Engineers (IEEE)

Version

AM (Accepted Manuscript)

Publication date

2016

Notes

© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

ISSN

1063-6536

eISSN

1558-0865

Language

en

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