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Design of Circling Around a Target Controllers for Mobile Robots by Feedback Linearization
Date
2010-08-28
Author
ŞAMİLOĞLU, ANDAÇ TÖRE
GAZİ, VEYSEL
Koku, Ahmet Buğra
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Unlike the studies in the literature utilizing pre-generated paths for tracking circular trajectories by mobile robots, in this study the circling around a target problem is considered as a periodic system problem and the states in the system kinematics are forced to converge to periodical trajectories. We propose controllers for the circling around a target behavior of mobile robots developed by static and dynamic feedback linearization techniques. We derive the conditions on the underdamped and overdamped stable responses of the systems and present corresponding simulation results for each case.
Subject Keywords
Mobile robots
,
Periodical control
,
Circling behavior
,
Feedback linearization
,
Kinematics in polar coordinates
URI
https://hdl.handle.net/11511/43890
DOI
https://doi.org/10.3182/20100826-3-tr-4016.00028
Collections
Department of Mechanical Engineering, Conference / Seminar
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A. T. ŞAMİLOĞLU, V. GAZİ, and A. B. Koku, “Design of Circling Around a Target Controllers for Mobile Robots by Feedback Linearization,” 2010, vol. 43, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/43890.