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Optimal Linear State Feedback Time-Varying Regulator for a Unicycle Mobile Robot

[+] Author Affiliations
Elvira Rafikova, Paulo R. G. Kurka

UNICAMP/FEM, Campinas, Brazil

Marat Rafikov

UNIJUÍ/DEFEM, Ijuí, Brazil

Paper No. ESDA2008-59167, pp. 423-429; 7 pages
  • ASME 2008 9th Biennial Conference on Engineering Systems Design and Analysis
  • Volume 4: Fatigue and Fracture; Fluids Engineering; Heat Transfer; Mechatronics; Micro and Nano Technology; Optical Engineering; Robotics; Systems Engineering; Industrial Applications
  • Haifa, Israel, July 7–9, 2008
  • Conference Sponsors: International
  • ISBN: 978-0-7918-4838-8 | eISBN: 0-7918-3827-7
  • Copyright © 2008 by ASME


This paper proposes an optimal time-varying linear state feedback control for wheeled mobile robot of the unicycle type. The control law that stabilizes exponentially the motion of the robot to a given desired trajectory is found, after transformation of the cinematic model of the robot into a well-known Brocket integrator [1]. Numerical simulations are presented in order to demonstrate the effectiveness of the proposed control design.

Copyright © 2008 by ASME



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