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Download fileShared control for the kinematic and dynamic models of a mobile robot
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posted on 2019-02-04, 09:31 authored by Jingjing JiangJingjing Jiang, Pierluigi Di Franco, Alessandro AstolfiThis 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 TechnologyVolume
24Issue
6Pages
2112 - 2124Citation
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
2016Notes
© 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
1063-6536eISSN
1558-0865Publisher version
Language
- en