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Adaptive dead-beat control law for trajectory tracking of robotic manipulators

✍ Scribed by L. Jetto; S. Longhi; A. Papini

Publisher
John Wiley and Sons
Year
1994
Tongue
English
Weight
934 KB
Volume
8
Category
Article
ISSN
0890-6327

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An optimal control law is derived for path tracking control of a class of wheeled mobile robots (WMR) or automated guided vehicles with front steering wheel. Optimality is based on minimizing a quadratic performance index in the position and orientation errors and the steering angle. The existence o