Trajectory Tracking Optimal Control for Nonholonomic Mobile Robot
This paper discussed the problem of trajectory tracking control for the nonholonomic mobile robot’s kinematic model with the angular speed of two actuated wheels as its control input. Based on the backstepping control algorithm, a sliding-mode variable structure switching function is designed, in or...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IFSA Publishing, S.L.
2017-01-01
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| Series: | Sensors & Transducers |
| Subjects: | |
| Online Access: | http://www.sensorsportal.com/HTML/DIGEST/january_2017/Vol_208/P_2892.pdf |