OTHER
Tracking control of wheeled mobile robots with unknown dynamics
Wenjie Dong, Wei Huo
- Year
- 2003
- Citations
- 21
Abstract
This paper considers the tracking problem of nonholonomic wheeled mobile robots with unknown dynamics. A new adaptive robust global dynamic controller is presented based on the canonical form of the wheeled mobile robots. This novel controller has low dimension and no singular points. Simulations show the effectiveness of the control scheme.
Keywords
Mobile robotControl theory (sociology)Nonholonomic systemComputer scienceRobotController (irrigation)Tracking (education)Vehicle dynamicsControl engineeringRobot control
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