论文信息 - A hybrid strategy for the feedback stabilization of nonholonomic mobile robots

A hybrid strategy for the feedback stabilization of nonholonomic mobile robots

A hybrid strategy for the control of nonholonomic mobile robots is proposed and assessed, using both theoretical arguments and simulation experiments. The control law is a discontinuous state feedback that combines the advantages of time-invariant smooth feedback control far from the target and of time-varying smooth feedback control close to the target, while avoiding their respective drawbacks.<<ETX>>

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