Journal of the
Korean Mathematical Society JKMS

ISSN(Print) 0304-9914 ISSN(Online) 2234-3008
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J. Korean Math. Soc. 1998; 35(1): 135-148

Printed March 1, 1998

Copyright © The Korean Mathematical Society.

A collision avoidance control problem for moving objects and a robot arm

Junhong Ha and Jito Vanualailai

Pusan National University and University of the South Pacific

Abstract

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We propose the new controls constructed via the second or direct method of Liapunov to solve the collision avoidance control problems for moving objects and a robot arm in the plane. We also explicate the controlling effect by the simulations.

Keywords: Liapunov function, feedback control, equilibrium state

MSC numbers: 65L07, 93-04, 73B52

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