Near-Optimal Tracking Control of a Nonholonomic Mobile Robot with Uncertainties
A combined kinematic/torque control law is developed by using a backstepping design approach for a nonholonomic mobile robot with two driving wheels mounted on the same axis to track a reference trajectory. The auxiliary velocity control inputs are designed for the kinematic steering system to make...
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2012-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/51189 |