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A virtual vehicle approach to motion control of mobile robots

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Abstract:
In this talk we will briefly introduce some model independent solutions to the problem of motion control of mobile platforms. These solutions are based on a so-called virtual vehicle approach, where the motion of the reference point on a desired trajectory is governed by a differential equation containing error feedback. This, combined with the fact that the associated control algorithms are basically proportional regulators, make the solutions robust with respect to errors and disturbances, as demonstrated by our experimental results.

http://www.math.kth.se/~hu
Type of Seminar:
Public Seminar
Speaker:
Dr. Xiaoming Hu, Assoc. Prof.
Optimization and Systems Theory Royal Institute of Technology 100 44 Stockholm, SWEDEN
Date/Time:
Jan 09, 2003   14:30
Location:

ETH Zentrum, Physikstrasse 3, 8600 Zurich, Building ETL , Room K25
Contact Person:

Prof. M. Morari
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Biographical Sketch:
Xiaoming Hu was born in Chengdu, China, in 1961. He received the B.S. degree from University of Science and Technology of China in 1983. He received the Ph.D degree in Electrical Engineering from Arizona State University in 1989 under the advisory of Prof C.I. Byrnes. From 1989 to 1990 he was a Gustafsson Postdoctoral Fellow at the Royal Institute of Technology, Stockholm, where he is currently an associate professor. His main research interests are in nonlinear feedback stabilization, nonlinear observer design, sensing and active perception, motion planning and control of mobile robots, and mobile manipulation.