OTHER
Signal invariance and trajectory steering problem for an autonomous wheeled robot
V. A. Yakubovich, A. V. Melnikov, Anton V. Proskurnikov, Roman M. Luchin
- Year
- 2011
- Citations
- 3
Abstract
We give a new convenient parametrization of linear controllers that solve the problem of signal invariance (or disturbance cancellation) for MIMO plants. As an example of application of the obtained results we consider the trajectory tracking problem for non-holonomic wheeled transport robots.
Keywords
HolonomicTrajectoryControl theory (sociology)RobotParametrization (atmospheric modeling)SIGNAL (programming language)MIMOComputer scienceMobile robotTracking (education)
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