Path following control of wheeled mobile robots combining piecewise-affine, linear parameter-varying, and backstepping theories
This thesis presents a novel controller synthesis method for path following of a wheeled mobile robot (WMR). The proposed control method consists of a three-step procedure mixing piecewise-affine (PWA) and linear parameter-varying (LPV) techniques with backstepping. In the first step, two curvature...
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2007
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| Online Access: | http://spectrum.library.concordia.ca/975532/1/MR34753.pdf LeBel, Stefan <http://spectrum.library.concordia.ca/view/creators/LeBel=3AStefan=3A=3A.html> (2007) Path following control of wheeled mobile robots combining piecewise-affine, linear parameter-varying, and backstepping theories. Masters thesis, Concordia University. |
Internet
http://spectrum.library.concordia.ca/975532/1/MR34753.pdfLeBel, Stefan <http://spectrum.library.concordia.ca/view/creators/LeBel=3AStefan=3A=3A.html> (2007) Path following control of wheeled mobile robots combining piecewise-affine, linear parameter-varying, and backstepping theories. Masters thesis, Concordia University.