Full state tracking and internal dynamics of nonholonomic wheeled mobile robots

被引：0
|
作者：
Wang, DW [1 ]
Xu, GY [1 ]
机构：
[1] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore
来源：
PROCEEDINGS OF THE 2000 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 2000年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Output tracking control and internal stability are analyzed for restricted mobile robots. Tracking error dynamics offers insights into the properties and stability of the input-output subsystem as well as the internal dynamics. Sufficient conditions for the full state tracking are developed. A type (1,1) mobile robot is studied in details and simulation results are presented to confirm the theory.
引用
收藏
页码：3274 / 3278
页数：5
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