@article{Jiang:2016:10.1109/TCST.2016.2528890,
author = {Jiang, J and Di, Franco P and Astolfi, A},
doi = {10.1109/TCST.2016.2528890},
journal = {IEEE Transactions on Control Systems Technology},
pages = {2112--2124},
title = {Shared control for the kinematic and dynamic models of a mobile robot},
url = {http://dx.doi.org/10.1109/TCST.2016.2528890},
volume = {24},
year = {2016}
}

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TY  - JOUR
AB  - This paper presents shared-control algorithms for the kinematic and dynamic models of a mobile robot with a feasible configuration set defined by means of linear inequalities. The shared-control laws based on a hysteresis switch are designed in the case in which absolute positions are not available. Instead, we measure the distances to obstacles and angular differences. Formal properties of the closed-loop systems with the shared control are established by a Lyapunov-like analysis. Simulation results and experimental results are presented to show the effectiveness of the algorithm.
AU  - Jiang,J
AU  - Di,Franco P
AU  - Astolfi,A
DO  - 10.1109/TCST.2016.2528890
EP  - 2124
PY  - 2016///
SN  - 1063-6536
SP  - 2112
TI  - Shared control for the kinematic and dynamic models of a mobile robot
T2  - IEEE Transactions on Control Systems Technology
UR  - http://dx.doi.org/10.1109/TCST.2016.2528890
UR  - http://hdl.handle.net/10044/1/39028
VL  - 24
ER  - 

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