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Backstepping control of nonholonomic car-like mobile robot in chained form

This project is attempts to stabilize an underactuated system based on the backstepping approach. The discontinuous time-invariant state feedback controller is designed for exponential stabilization of underactuated nonho-lonomic systems in chained form. System dynamic of the car-like robot with non...

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Main Authors: Zainah, Md. Zain, Nurul Ain, Mohamed, Maziyah, Mat Noh, Pebrianti, Dwi
Format: Book Section
Language:English
English
Published: Springer Singapore 2018
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/22931/1/35.%20Backstepping%20control%20of%20nonholonomic%20car-like%20mobile%20robot%20in%20chained%20form.pdf
http://umpir.ump.edu.my/id/eprint/22931/2/35.1%20Backstepping%20control%20of%20nonholonomic%20car-like%20mobile%20robot%20in%20chained%20form.pdf
http://umpir.ump.edu.my/id/eprint/22931/
https://link.springer.com/chapter/10.1007/978-981-13-3708-6_15
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spelling my.ump.umpir.229312019-05-17T08:24:08Z http://umpir.ump.edu.my/id/eprint/22931/ Backstepping control of nonholonomic car-like mobile robot in chained form Zainah, Md. Zain Nurul Ain, Mohamed Maziyah, Mat Noh Pebrianti, Dwi TK Electrical engineering. Electronics Nuclear engineering This project is attempts to stabilize an underactuated system based on the backstepping approach. The discontinuous time-invariant state feedback controller is designed for exponential stabilization of underactuated nonho-lonomic systems in chained form. System dynamic of the car-like robot with nonholonomic constraints were employed. The validity of the proposed ap-proaches is tested through simulation on a car-like vehicle using Matlab soft-ware. Springer Singapore 2018 Book Section PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/22931/1/35.%20Backstepping%20control%20of%20nonholonomic%20car-like%20mobile%20robot%20in%20chained%20form.pdf pdf en http://umpir.ump.edu.my/id/eprint/22931/2/35.1%20Backstepping%20control%20of%20nonholonomic%20car-like%20mobile%20robot%20in%20chained%20form.pdf Zainah, Md. Zain and Nurul Ain, Mohamed and Maziyah, Mat Noh and Pebrianti, Dwi (2018) Backstepping control of nonholonomic car-like mobile robot in chained form. In: Proceedings of the 10th National Technical Seminar on Underwater System Technology. Lecture Notes in Electrical Engineering . Springer Singapore, Singapore, pp. 173-180. ISBN 978-981-13-3708-6 (Unpublished) https://link.springer.com/chapter/10.1007/978-981-13-3708-6_15 DOI: https://doi.org/10.1007/978-981-13-3708-6_15
institution Universiti Malaysia Pahang
building UMP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang
content_source UMP Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Zainah, Md. Zain
Nurul Ain, Mohamed
Maziyah, Mat Noh
Pebrianti, Dwi
Backstepping control of nonholonomic car-like mobile robot in chained form
description This project is attempts to stabilize an underactuated system based on the backstepping approach. The discontinuous time-invariant state feedback controller is designed for exponential stabilization of underactuated nonho-lonomic systems in chained form. System dynamic of the car-like robot with nonholonomic constraints were employed. The validity of the proposed ap-proaches is tested through simulation on a car-like vehicle using Matlab soft-ware.
format Book Section
author Zainah, Md. Zain
Nurul Ain, Mohamed
Maziyah, Mat Noh
Pebrianti, Dwi
author_facet Zainah, Md. Zain
Nurul Ain, Mohamed
Maziyah, Mat Noh
Pebrianti, Dwi
author_sort Zainah, Md. Zain
title Backstepping control of nonholonomic car-like mobile robot in chained form
title_short Backstepping control of nonholonomic car-like mobile robot in chained form
title_full Backstepping control of nonholonomic car-like mobile robot in chained form
title_fullStr Backstepping control of nonholonomic car-like mobile robot in chained form
title_full_unstemmed Backstepping control of nonholonomic car-like mobile robot in chained form
title_sort backstepping control of nonholonomic car-like mobile robot in chained form
publisher Springer Singapore
publishDate 2018
url http://umpir.ump.edu.my/id/eprint/22931/1/35.%20Backstepping%20control%20of%20nonholonomic%20car-like%20mobile%20robot%20in%20chained%20form.pdf
http://umpir.ump.edu.my/id/eprint/22931/2/35.1%20Backstepping%20control%20of%20nonholonomic%20car-like%20mobile%20robot%20in%20chained%20form.pdf
http://umpir.ump.edu.my/id/eprint/22931/
https://link.springer.com/chapter/10.1007/978-981-13-3708-6_15
_version_ 1643669475249094656
score 13.211869

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