@phdthesis{thuilot:pastel-00838914, TITLE = {{Contribution {\`a} la mod{\'e}lisation et {\`a} la commande de robots mobiles {\`a} roues}}, AUTHOR = {Thuilot, Beno{\^i}t}, URL = {https://pastel.hal.science/pastel-00838914}, NUMBER = {1995ENMP0603}, SCHOOL = {{{\'E}cole Nationale Sup{\'e}rieure des Mines de Paris}}, YEAR = {1995}, MONTH = Dec, KEYWORDS = {Wheeled mobile robots ; nonholonomic systems ; sliding ; modeling ; nonlinear control ; exact linearization ; time-varying feedback laws ; singularities ; bouclage de l'{\'e}tat et du temps ; singularit{\'e}s ; Robot mobile {\`a} roues ; syst{\`e}mes non-holonomes ; glissement ; mod{\'e}lisation ; commande non-lin{\'e}aire ; lin{\'e}arisation exacte}, TYPE = {Theses}, PDF = {https://pastel.hal.science/pastel-00838914/file/1995_Thuilot.pdf}, HAL_ID = {pastel-00838914}, HAL_VERSION = {v1}, }