Motion Control of Nonholonomic Wheeled Mobile Robot in a Structured Layout
This paper describes the incorporation of active force control (AFC) scheme into two different resolved motion acceleration control (RMAC) models, i.e. RMAC with proportional-plus-derivative (RMAC-PD) and RMAC with proportional-plus-integralplus- derivative (RMAC-PID). The two newly formulated contr...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Faculty of Mechanical Engineering,
2006.
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| Subjects: | |
| Online Access: | Get fulltext |