Naval Postgraduate School
Dudley Knox Library
NPS Dudley Knox Library
View Item 
  •   Calhoun Home
  • Faculty and Researchers
  • Faculty and Researchers' Publications
  • View Item
  •   Calhoun Home
  • Faculty and Researchers
  • Faculty and Researchers' Publications
  • View Item
  • How to search in Calhoun
  • My Accounts
  • Ask a Librarian
JavaScript is disabled for your browser. Some features of this site may not work without it.

Browse

All of CalhounCollectionsThis Collection

My Account

LoginRegister

Statistics

Most Popular ItemsStatistics by CountryMost Popular Authors

Stability Analysis of the Internal Dynamics of a Wheeled Mobile Robot

Thumbnail
Download
IconYun_Stability.pdf (254.2Kb)
Download Record
Download to EndNote/RefMan (RIS)
Download to BibTex
Author
Yun, Xiaoping
Yamamoto, Yoshio
Date
1997
Metadata
Show full item record
Abstract
The stability of the internal dynamics of a wheeled mobile robot is analyzed. It is shown that the wheeled mobile robot exhibits unstable internal dynamics when moving backwards. Most control methods of wheeled mobile robots are designed based on input-output relations. Since the internal dynamics are not represented in input-output relations, stability properties of the internal dynamics are generally neglected. Nevertheless, the internal dynamics do affect the behavior of mobile robots. Taking the lookahead control method as an example, it is shown that, by using a novel Liapunov function, the internal dynamics of a two-wheel differential-drive mobile robot are unstable when it is commanded to move backwards. Both simulation and experimental results are provided to verify the analysis.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
URI
http://hdl.handle.net/10945/44185
Collections
  • Faculty and Researchers' Publications

Related items

Showing items related by title, author, creator and subject.

  • Thumbnail

    Acoustic travel-time perturbations due to shallow-water internal waves and internal tides in the Barents Sea Polar Front: Theory and experiment 

    Lynch, James F.; Jin, Guoliang; Pawlowicz, Richard; Ray, Douglas; Plueddemann, Albert J.; Chiu, Ching-Sang; Miller, James H.; Bourke, Robert H.; Parsons, A. Rost; Muench, Robin (1996);
    During August 1992, a combined acoustics/physical oceanography experiment was performed to study both the acoustical properties and the ocean dynamics of the Barents Sea Polar Front in the region near Bear Island. Oceanographic ...
  • Thumbnail

    Interactions Between Nonlinear Internal Ocean Waves and the Atmosphere 

    Ortiz-Suslow, David G.; Wang, Qing; Kalogiros, John; Yamaguchi, Ryan; de Paolo, Tony; Terrill, Eric; Shearman, R. Kipp; Welch, Pat; Savelyev, Ivan (AGU, 2019-08);
    The heterogeneity in surface roughness caused by transient, nonlinear internal ocean waves is readily observed in coastal waters. However, the quantifiable impact this heterogeneity has on the marine atmospheric surface ...
  • Thumbnail

    Tidal dynamics and mixing over steep topography 

    Coelho, Emanuel Ferreira (Monterey, California. Naval Postgraduate School, 1994-06);
    Coastal currents and water column stratification frequently are determined by local phenomena that interact to produce complex dynamics. A process study was designed to assess the role of tides over a coastal shelf break ...
NPS Dudley Knox LibraryDUDLEY KNOX LIBRARY
Feedback

411 Dyer Rd. Bldg. 339
Monterey, CA 93943
circdesk@nps.edu
(831) 656-2947
DSN 756-2947

    Federal Depository Library      


Start Your Research

Research Guides
Academic Writing
Ask a Librarian
Copyright at NPS
Graduate Writing Center
How to Cite
Library Liaisons
Research Tools
Thesis Processing Office

Find & Download

Databases List
Articles, Books & More
NPS Theses
NPS Faculty Publications: Calhoun
Journal Titles
Course Reserves

Use the Library

My Accounts
Request Article or Book
Borrow, Renew, Return
Tech Help
Remote Access
Workshops & Tours

For Faculty & Researchers
For International Students
For Alumni

Print, Copy, Scan, Fax
Rooms & Study Spaces
Floor Map
Computers & Software
Adapters, Lockers & More

Collections

NPS Archive: Calhoun
Restricted Resources
Special Collections & Archives
Federal Depository
Homeland Security Digital Library

About

Hours
Library Staff
About Us
Special Exhibits
Policies
Our Affiliates
Visit Us

NPS-Licensed Resources—Terms & Conditions
Copyright Notice

Naval Postgraduate School

Naval Postgraduate School
1 University Circle, Monterey, CA 93943
Driving Directions | Campus Map

This is an official U.S. Navy Website |  Please read our Privacy Policy Notice  |  FOIA |  Section 508 |  No FEAR Act |  Whistleblower Protection |  Copyright and Accessibility |  Contact Webmaster

Export search results

The export option will allow you to export the current search results of the entered query to a file. Different formats are available for download. To export the items, click on the button corresponding with the preferred download format.

A logged-in user can export up to 15000 items. If you're not logged in, you can export no more than 500 items.

To select a subset of the search results, click "Selective Export" button and make a selection of the items you want to export. The amount of items that can be exported at once is similarly restricted as the full export.

After making a selection, click one of the export format buttons. The amount of items that will be exported is indicated in the bubble next to export format.