OTHER
Stabilization and tracking of a nonholonomic mobile robot with saturating actuators
ZP Zhong-Ping Jiang, Aaj Erjen Lefeber, Henk Nijmeijer
- Year
- 1998
- Citations
- 11
Abstract
The stabilization and tracking problem for the kinematic model and simplified dynamic model of a wheeled mobile robot with input saturations is considered. The results form a direct extension of the case where no actuator constraints are involved. Simulations illustrate the proposed control strategy.
Keywords
Nonholonomic systemMobile robotControl theory (sociology)ActuatorTracking (education)Computer scienceArtificial intelligenceRobotComputer visionControl engineering
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