A novel trajectory-tracking control law for wheeled mobile robots
S Blažič - Robotics and Autonomous Systems, 2011 - Elsevier
In this paper a novel kinematic model is proposed where the transformation between the
robot posture and the system state is bijective. A nonlinear control law is constructed in the
Lyapunov stability analysis framework. This control law achieves a global asymptotic
stability of the system based on the usual requirements for reference velocities. The control
law is extensively analysed and compared to some existing, globally stable control laws.
robot posture and the system state is bijective. A nonlinear control law is constructed in the
Lyapunov stability analysis framework. This control law achieves a global asymptotic
stability of the system based on the usual requirements for reference velocities. The control
law is extensively analysed and compared to some existing, globally stable control laws.
A novel trajectory-tracking control law for wheeled mobile robots
SO Blaič - Robotics and Autonomous Systems, 2011 - dl.acm.org
In this paper a novel kinematic model is proposed where the transformation between the
robot posture and the system state is bijective. A nonlinear control law is constructed in the
Lyapunov stability analysis framework. This control law achieves a global asymptotic
stability of the system based on the usual requirements for reference velocities. The control
law is extensively analysed and compared to some existing, globally stable control laws.
robot posture and the system state is bijective. A nonlinear control law is constructed in the
Lyapunov stability analysis framework. This control law achieves a global asymptotic
stability of the system based on the usual requirements for reference velocities. The control
law is extensively analysed and compared to some existing, globally stable control laws.
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