Lyapunov Function-Based Non-Linear Control for Two-Wheeled Mobile Robots

About this item

Title

Lyapunov Function-Based Non-Linear Control for Two-Wheeled Mobile Robots

Content partner

The University of Auckland Library

Collection

ResearchSpace@Auckland

Description

This article presents a non-linear feedback control framework for two-wheeled mobile robots. The approach uses a constructive Lyapunov function which allows the formulation of a control law with asymptotic stability of the equilibrium point of the system and a computable stability region. The dynamic equations are simplified through normalisation and partial feedback linearisation. The latter allows linearisation of only the actuated coordinate. Description of the control law is complemented ...

Read more

Format

Research paper

Research format

Journal article

Date created

2013-12-31

Creator

Kausar / Stol, Karl / Patel, Nitish

URL

http://hdl.handle.net/2292/21511

What is the copyright status of this item?

Share

See below for specifics about how you may use this item.

More Information

The University of Auckland Library has this to say about the rights status of this item:

Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. Details obtained from http://www.sherpa.ac.uk/romeo/issn/1757-6792/

You can learn more about the rights status of this item at:

• https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm
• http://purl.org/eprint/accessRights/RestrictedAccess

What can I do with this item?

You must always check with The University of Auckland Library to confirm the specific terms of use, but this is our understanding:

Non-infringing use

NZ Copyright law does not prevent every use of a copyright work. You should consider what you can and cannot do with a copyright work.

Share it

This item is suitable for copying and sharing with others, without further permission.

No modifying

You are not allowed to adapt or remix this item into any other works.

No commercial use

You may not use this item commercially.