Control of two-wheeled mobile robot via homogeneous semiconcave control Lyapunov function: Verification by experimental results

Shunsuke Kimura, Hisakazu Nakamura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We proposed a control law of a homogeneous semiconcave control Lyapunov function for a two-wheeled mobile robot. However, we have not confirmed the effectiveness of the proposed method by an experiments. In this paper, we apply the proposed method to a Roomba, a two-wheeled mobile robot and confirm the effectiveness of the proposed method.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
PublisherSociety of Instrument and Control Engineers (SICE)
Pages1063-1068
Number of pages6
ISBN (Electronic)9784907764463
DOIs
Publication statusPublished - 23 Oct 2014
Event2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014 - Sapporo, Japan
Duration: 9 Sep 201412 Sep 2014

Publication series

NameProceedings of the SICE Annual Conference

Conference

Conference2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014
CountryJapan
CitySapporo
Period9/09/1412/09/14

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Keywords

  • control Lyapunov function
  • mobile robot
  • nonlinear system

Cite this

Kimura, S., & Nakamura, H. (2014). Control of two-wheeled mobile robot via homogeneous semiconcave control Lyapunov function: Verification by experimental results. In Proceedings of the SICE Annual Conference (pp. 1063-1068). [6935250] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE). https://doi.org/10.1109/SICE.2014.6935250