C
Claude Samson
Researcher at French Institute for Research in Computer Science and Automation
Publications - 118
Citations - 8189
Claude Samson is an academic researcher from French Institute for Research in Computer Science and Automation. The author has contributed to research in topics: Nonholonomic system & Mobile robot. The author has an hindex of 37, co-authored 117 publications receiving 7805 citations.
Papers
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Journal ArticleDOI
Control of chained systems application to path following and time-varying point-stabilization of mobile robots
TL;DR: Application to the control of nonholonomic wheeled mobile robots is described by considering the case of a car pulling trailers, and globally stabilizing time-varying feedbacks are derived.
Book
Robot Control: The Task Function Approach
TL;DR: From the Publisher: A complete approach to the problem of controlling robot manipulators needs to bring together three scientific branches: computer science, mechanics, and automatic control.
Proceedings ArticleDOI
Feedback control of a nonholonomic wheeled cart in Cartesian space
Claude Samson,K. Ait-Abderrahim +1 more
TL;DR: A preliminary study of the problem of the feedback control of mobile robots is presented, and it is shown that stabilization of the cart's configuration around the configuration of a virtual reference cart becomes possible as long as the reference cart keeps moving.
Trajectory tracking for unicycle-type and two-steering-wheels mobile robots
Alain Micaelli,Claude Samson +1 more
TL;DR: In this paper, two general controllers for unicycle-type and two-steering-wheels mobile robots are proposed and conditions for asymptotical convergence to a predefined path are established and simulation results are presented.