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dc.contributor.authorLee, TCen_US
dc.contributor.authorSong, KTen_US
dc.contributor.authorLee, CHen_US
dc.contributor.authorTeng, CCen_US
dc.date.accessioned2014-12-08T15:44:06Z-
dc.date.available2014-12-08T15:44:06Z-
dc.date.issued2001-03-01en_US
dc.identifier.issn1063-6536en_US
dc.identifier.urihttp://dx.doi.org/10.1109/87.911382en_US
dc.identifier.urihttp://hdl.handle.net/11536/29781-
dc.description.abstractThe tracking control problem with saturation constraint for a class of unicycle-modeled mobile robots is formulated and solved using the backstepping technique and the idea from the LaSalle's invariance principle. A global result is presented in which several constraints on the linear and the angular velocities of the mobile robot from recent literature are dropped. The proposed controller can simultaneously solve both the tracking and regulation problems of a unicycle-modeled mobile robot. With the proposed control laws, the robot can globally follow any path specified by a straight line, a circle or a path approaching the origin using a single controller. As demonstrated, the circular and parallel parking control problem are solved using the proposed controller. Computer simulations are presented which confirm the effectiveness of the proposed tracking control law Practical experimental results validate the simulations.en_US
dc.language.isoen_USen_US
dc.subjectmobile robotsen_US
dc.subjectmotion controlen_US
dc.subjectnonlinear systemsen_US
dc.subjectstabilityen_US
dc.subjecttime-varying systemsen_US
dc.subjecttrackingen_US
dc.titleTracking control of unicycle-modeled mobile robots using a saturation feedback controlleren_US
dc.typeArticleen_US
dc.identifier.doi10.1109/87.911382en_US
dc.identifier.journalIEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGYen_US
dc.citation.volume9en_US
dc.citation.issue2en_US
dc.citation.spage305en_US
dc.citation.epage318en_US
dc.contributor.department電機資訊學士班zh_TW
dc.contributor.departmentUndergraduate Honors Program of Electrical Engineering and Computer Scienceen_US
dc.identifier.wosnumberWOS:000167656200010-
dc.citation.woscount164-
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