• Corpus ID: 14301714

Exponential Stabilization of a Wheeled Mobile Robot Via Discontinuous Control

@inproceedings{Astolfl2007ExponentialSO,
  title={Exponential Stabilization of a Wheeled Mobile Robot Via Discontinuous Control},
  author={A. Astolfl},
  year={2007}
}
A. Astolfl^ stabilizing control laws are smooth in the polar coordinates system, whereas are discontinuous, although bounded (see Remark 5) in the cartesian one. The potentiality of the polar description have been partially exploited in the work of Badreddin and Mansour [6] , Astolfi [2, 4, 3] , and Casahno et al. | 9 | . The former introduced for the first time the polar representation and proposed, for the kinematic model, a linear, fuzzy-tuned, state feedback control guarantying local… 

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