Fast regulation of the rolling sphere: A motion planning approach

dc.citation.epage	+	en_US
dc.citation.spage	1838	en_US
dc.citation.woscount	0	en_US
dc.contributor.author	Lee, Ti-Chung	en_US
dc.contributor.author	Lin, Shir-Kuan	en_US
dc.contributor.department	電控工程研究所	zh_TW
dc.contributor.department	Institute of Electrical and Control Engineering	en_US
dc.date.accessioned	2017-04-21T06:49:05Z
dc.date.available	2017-04-21T06:49:05Z
dc.date.issued	2007	en_US
dc.description.abstract	This paper presents a simple stabilizing control scheme for the rolling sphere. A tracking control problem with respect to a "virtual moving trajectory" is first solved. Then, it is used to achieve practical stability for the regulation problem. The derived controllers have a simple form and can guarantee fast convergence. To verify the effectiveness of the proposed results, an interesting simulation result is presented.	en_US
dc.identifier.doi	10.1109/ROBOT.2007.363589	en_US
dc.identifier.isbn	978-1-4244-0601-2	en_US
dc.identifier.issn	1050-4729	en_US
dc.identifier.journal	PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10	en_US
dc.identifier.uri	http://dx.doi.org/10.1109/ROBOT.2007.363589	en_US
dc.identifier.uri	https://ir.lib.nycu.edu.tw/handle/11536/135669
dc.identifier.wosnumber	WOS:000250915301134	en_US
dc.language.iso	en_US	en_US
dc.title	Fast regulation of the rolling sphere: A motion planning approach	en_US
dc.type	Proceedings Paper	en_US

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