A control of a wheeled system with account of side slip

Abstract

The control problem for wheeled systems similar to a mobile robot, a vehicle, a wheeled tractor, and so on, is studied. These systems are referred to the class of nonholonomic mechanical systems, the analysis is limited to kinematic models, and the dynamics of control drives is taken into account. A control that stabilizes the motion of a wheeled system along a given trajectory (planar smooth curve) is constructed. The stabilizability is substantiated in large with respect to basic variables of the system. The central result is connected with the proof of motion stability when the side slip of the system wheels is taken into account.