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Title: Design of circling around a target controllers for mobile robots by feedback linearization
Authors: Şamiloğlu, A. T.
Gazi, V.
Koku, A. Buğra
Keywords: Circling behavior
Feedback linearization
Kinematics in polar coordinates
Mobile robots
Periodical control
Issue Date: 2010
Publisher: IFAC Secretariat
Source: IFAC International Workshop on Periodic Control Systems, PSYCO 2010, 26 August 2010 through 28 August 2010, Antalya, 105495
Abstract: 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. © 2010 IFAC.
ISBN: 9783902661869
ISSN: 1474-6670
Appears in Collections:Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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