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SCIENCE & EDUCATION

Bauman Moscow State Technical University.   El № FS 77 - 48211.   ISSN 1994-0408

Movement stabilization along the given path for a two-wheeled robot with a differential drive

# 04, April 2013
DOI: 10.7463/0413.0547786
УДК: 517.93
Article file: Nefed13.pdf (556.98Kb)
author: G.A. Nefedov

References

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2. Gilim'ianov R.F., Pesterev A.V., Rapoport L.B. Upravlenie dvizheniem kolesnogo robota v zadache sledovaniia vdol' krivolineinogo puti [Motion control for a wheeled robot following a curvilinear path]. Izv. RAN. Teoriia i sistemy upravleniia, 2008, vol. 47, no. 6, pp. 158-165. (Trans. version: Journal of Computer and Systems Sciences International, 2008, vol. 47, no. 6, pp. 987-994.).

3. Kanatnikov A.N., Kasatkina T.S. Osobennosti perekhoda k putevym koordinatam v zadache putevoi stabilizatsii [Features of transition to path coordinates in a problem of path stabilisation]. Nauka i obrazovanie MGTU im. N.E. Baumana [Science and Education of the Bauman MSTU], 2012, no. 7. DOI: 10.7463/0712.0445496

4. Krasnoshchechenko V.I., Krishchenko A.P. Nelineinye sistemy: geometricheskie metody analiza i sinteza [Nonlinear systems: geometric methods for analysis and synthesis]. Moscow, Bauman MSTU Publ., 2005. 520 p.
 
5. Tkachev S.B. Realizatsiia dvizheniia kolesnogo robota po zadannoi traektorii [Realization of wheeled robot motion along specified trajectory]. Vestnik MGTU im. N.E. Baumana. Ser. Estestvennye nauki [Bulletin of the Bauman MSTU. Ser. Natural science], 2008, no. 2, pp. 33-55.
 
6. Tkachev S.B. Stabilizatsiia neminimal'no fazovykh affinnykh sistem s vektornym upravleniem [Stabilization of nonminimum-phase multi-input affine systems]. Nauka i obrazovanie MGTU im. N.E. Baumana [Science and Education of the Bauman MSTU], 2012, no. 8. DOI: 10.7463/0812.0450613

7. Tkachev S.B., Shevliakov A.A. Preobrazovanie affinnykh sistem so skaliarnym upravleniem k kvazikanonicheskomu vidu [Conversion of affine systems with scalar control to quasi-canonical form]. Vestnik MGTU im. N.E. Baumana. Ser. Estestvennye nauki [Bulletin of the Bauman MSTU. Ser. Natural science], 2013, no. 1 (in print).

8. Brockett R.W. Asymptotic stability and feedback stabilization. In book: Brockett R.W., Millman R.S., Sussman H.J., eds. Differential Geometric Control Theory. USA, Boston, Birkhauser, 1983, pp. 181-191.
 
9. Laumond J.-P., ed. Robot Motion Planning and Control. Springer Berlin Heidelberg, 1998. 343 p. (Ser. Lectures Notes in Control and Information Sciences; vol. 229). DOI: 10.1007/BFb0036069
 
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