Backstepping based Trajectory Tracking Control of a Four Wheeled Mobile Robot

For a four wheeled mobile robot a trajectory tracking concept is developed based on its kinematics. A trajectory is a time?indexed path in the plane consisting of position and orientation .The mobile robot is modeled as a non holonomic system subject to pure rolling , no slip constraints.To facilita...

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Bibliographic Details

Published in:	International Journal of Advanced Robotic Systems
Main Authors:	Nagarajan Sukavanam, Umesh Kumar
Format:	Article
Language:	English
Published:	SAGE Publishing 2008-11-01
Subjects:	wheeled mobile robot chained form systems nonholonomic systems trajectory tracking.
Online Access:	http://www.intechopen.com/articles/show/title/backstepping_based_trajectory_tracking_control_of_a_four_wheeled_mobile_robot