Robust full state tracking and ultimate exponential stabilization of nonholonomic wheeled mobile robots.
Date of Issue2002
School of Electrical and Electronic Engineering
The object of this doctoral thesis is to develop novel theoretical results and practical techniques on the feedback control of nonholonomic wheeled mobile robots. Firstly, a brief review of previous work on the nonholonomic systems and their feedback control is provided. This is followed by the presentation of mathematical preliminaries used in the thesis.
DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Nanyang Technological University