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Commande référencée capteur des robots non holonomes

Mauro Maya 1 
1 ICARE - Instrumentation, control and architecture of advanced robots
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : This thesis concerns the design of sensor-based control laws for nonholonomic robots, based on the transverse function control approach, and the robustness analysis of these control laws.
The control of nonhlonomic robots has been a very active research field for the last fifteen years. Even so, when one wishes to stabilize the full robot pose, the robustness of control laws with respect to state estimation errors (which typically arise in practice due to sensor model errors) remains an open problem. The main obtacles to this work comme from this problem.
The results obtained in this work can be classified into two main contributions.
The first one concerns the obtention of methodologies for synthesizing control laws from sensor signals. Several methods are proposed and in particular we devise a control scheme directly in the signal space by analogy with manipulator control techniques. The second and more fundamental part of this work concerns the analysis of the robustness of the proposed control schemes with respect to sensor model errors. Theoretical stability results have been obtained and validated by simulations and experiments.
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Submitted on : Friday, April 20, 2007 - 5:28:33 PM
Last modification on : Friday, February 4, 2022 - 3:11:06 AM
Long-term archiving on: : Wednesday, April 7, 2010 - 1:12:42 AM


  • HAL Id : tel-00142742, version 1



Mauro Maya. Commande référencée capteur des robots non holonomes. Automatique / Robotique. École Nationale Supérieure des Mines de Paris, 2007. Français. ⟨NNT : 2007ENMP1452⟩. ⟨tel-00142742⟩



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