Passivity-based control of an omnidirectional mobile robot

This paper studies passivity-based trajectory tracking control of an omnidirectional mobile robot. The proposed control design is simple to be implemented in practice, because of an effective exploitation of the structure of robot dynamics. First, the passivity property of the prototype robot is ana...

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Detalles Bibliográficos
Autores principales: Ren, Chao, Sun, Yi, Ma, Shugen
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Springer Berlin Heidelberg 2016
Materias:
Research
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4937087/
https://www.ncbi.nlm.nih.gov/pubmed/27446772
http://dx.doi.org/10.1186/s40638-016-0037-z

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4937087/
https://www.ncbi.nlm.nih.gov/pubmed/27446772
http://dx.doi.org/10.1186/s40638-016-0037-z

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