3 accepted papers
In this letter, we propose a gradient-based nonlinear control approach for stabilizing a nonholonomic Wheeled Mobile Robot (WMR) to a target position in environments with and without obstacles. This approach enables any gradient-based feedback control law (with bounded or unbounded gradients) develo
In this paper, we present an optimal control approach using Linear Matrix Inequalities (LMIs) for trajectory tracking control of a three-wheeled omnidirectional mobile robot in the presence of external disturbances on the robot's actuators and noise in the robot's sensor measurements. First, a state…
This letter addresses the kinematic modeling and control of hyper-redundant robots inspired by the octopus arm. We propose a discrete multi-segment model in which each segment is a 6-DoF Gough-Stewart parallel platform. Our model is novel in that it can reproduce all generic motions of an octopus ar