CaltechAUTHORS
  A Caltech Library Service

Experiments in exponential stabilization of a mobile robot towing a trailer

M’Closkey, Robert T. and Murray, Richard M. (1994) Experiments in exponential stabilization of a mobile robot towing a trailer. In: Proceedings of 1994 American Control Conference (ACC '94). Vol.1. IEEE , Piscataway, NJ, pp. 988-993. ISBN 0-7803-1783-1. https://resolver.caltech.edu/CaltechAUTHORS:20190318-093858769

[img] PDF - Published Version
See Usage Policy.

624Kb

Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20190318-093858769

Abstract

Applies some previously developed control laws for stabilization of mechanical systems with non-holonomic constraints to an experimental system consisting of a mobile robot towing a trailer. The authors verify the applicability of various control laws which have appeared in the recent literature, and compare the performance of these controllers in an experimental setting. In particular, the authors show that time-periodic, non-smooth controllers can be used to achieve exponential stability of a desired equilibrium configuration, and that these controllers outperform smooth, time-varying control laws. The authors also point out several practical considerations which must be taken into account when implementing these controllers.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ACC.1994.751893DOIArticle
ORCID:
AuthorORCID
M’Closkey, Robert T.0000-0003-1443-8217
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 1994 IEEE.
Record Number:CaltechAUTHORS:20190318-093858769
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190318-093858769
Official Citation:R. T. M'Closkey and R. M. Murray, "Experiments in exponential stabilization of a mobile robot towing a trailer," Proceedings of 1994 American Control Conference - ACC '94, Baltimore, MD, USA, 1994, pp. 988-993 vol.1. doi: 10.1109/ACC.1994.751893
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:93910
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:18 Mar 2019 18:02
Last Modified:03 Oct 2019 20:58

Repository Staff Only: item control page