IEEE - Institute of Electrical and Electronics Engineers, Inc. - Underactuated two-wheeled mobile manipulator control using nonlinear backstepping method

IECON 2008 - 34th Annual Conference of IEEE Industrial Electronics Society

Author(s): C. Acar ; T. Murakami
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2008
Conference Location: Orlando, FL, USA
Conference Date: 10 November 2008
Page(s): 1,680 - 1,685
ISBN (CD): 978-1-4244-1766-7
ISBN (Paper): 978-1-4244-1767-4
ISSN (Paper): 1553-572X
DOI: 10.1109/IECON.2008.4758206
Regular:

In this paper, control of an underactuated two-wheeled mobile manipulator using backstepping method is considered. Two-wheeled systems have many advantages compared to the statically stable... View More

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