Robust oscillation control of wheeled mobile robots
β Scribed by Yasutaka Tsuchida; Masahiro Oya; Natsuki Takagi; Qiang Wang
- Publisher
- Springer Japan
- Year
- 2009
- Tongue
- English
- Weight
- 459 KB
- Volume
- 14
- Category
- Article
- ISSN
- 1433-5298
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π SIMILAR VOLUMES
In this paper, an asymptotic control with driftless constraints is proposed for wheeled mobile robots based on empirical practice. The equations of motion of a designed mobile robot are derived. In order to obtain the desired performance for high velocity and consecutive motions, the motion requirem
This paper presents a new di!erentiable, time-varying controller for the regulation problem for wheeled mobile robots. After the WMR kinematics have been transformed into an advantageous form, a dynamic oscillator, in lieu of explicit cosine or sine terms, is constructed to promulgate a global expon