Abstract: In the paper, the stable full-state tracking problem is investigated for nonholonomic wheeled mobile robots under output-tracking control laws.
Abstract: Output tracking control and internal stability are analyzed for restricted mobile robots. Tracking error dynamics offers insights into the ...
In the paper, the stable full-state tracking problem is investigated for nonholonomic wheeled mobile robots under output-tracking control laws. Dynamics of such ...
Abstract—In this paper, the stable full-state tracking problem is investigated for nonholonomic wheeled mobile robots under output-tracking control laws.
Output tracking control and internal stability are an- alyzed for restricted mobile robots. ~'acking error dy- namics offers insights into the properties ...
Jun 29, 2015 · In the paper, the stable full-state tracking problem is investigated for nonholonomic wheeled mobile robots under output-tracking control ...
They observed asymptotically stable internal dynamics during trajectory tracking provided that the steering angle is zero and the mobile robot moves forward and ...
People also ask
What are nonholonomic mobile robots?
Nonholonomic wheeled mobile robots employ conventional wheels that don't allow sideways sliding, such as this wheel rolling upright on a plane. Its configuration q consists of the heading angle phi, the contact position (x,y), and the rolling angle theta.
What are the dynamics of a robot?
Robot dynamics are the relationship between the forces acting on a robot and the resulting motion of the robot.
What is the dynamic model of a robot?
The dynamics model reflects the mathematical relationship between the motion of the robot, the driving torque and load. This embodies the robot's athletic ability and carrying capacity from the side.
What is the control of wheeled mobile systems?
Control of Wheeled Mobile Systems
Motion control of wheeled mobile robots in the environment without obstacles can be performed by controlling motion from some start pose to some goal pose (classic control, where intermediate state trajectory is not prescribed) or by reference trajectory tracking.
More precisely, we are interested in solving the problem of tracking with stability of a reference trajectory, by means of linearizing "static" and "dynamic" ...
Stability analysis of the internal dynamics of a wheeled mobile robot ... Full state tracking and internal dynamics of nonholonomic wheeled mobile robots.
Jun 12, 2016 · Abstract—This paper address a novel method for nonholonomic Wheeled Mobile Robot (NWMR) trajectory tracking using a hybrid controller.