Tracking control of uncertain dynamic nonholonomic system and its application to wheeled mobile robots
- 1 December 2000
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics and Automation
- Vol. 16 (6) , 870-874
- https://doi.org/10.1109/70.897799
Abstract
Considers the tracking problem of dynamic nonholonomic systems with unknown inertia parameters. A new controller is proposed. The proposed controller not only ensures the entire state of the dynamic system asymptotically track the desired trajectory, but also is characterized by low dimension and the absence of singular points. Simulation results show that the proposed controller is effective.Keywords
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