OTHER
TRACKING CONTROL OF MOBILE ROBOTS WITH NONHOLONOMIC CONSTRAINT
Dong Wenjie
- Year
- 2000
- Citations
- 9
Abstract
This paper investigates the tracking problem of kinematic and dynamic models of wheeled mobile robots with nonholonomic constraints.New tracking controllers are designed with the canoincal form.Our controllers are dynamic and have virtues of low dimensions and no singular points.Simulation results show effectiveness of the controllers.
Keywords
Nonholonomic systemKinematicsMobile robotConstraint (computer-aided design)Tracking (education)Control theory (sociology)Computer scienceRobotControl engineeringControl (management)
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