OTHER
Lyapunov based global trajectory tracking control of wheeled mobile robot
Tao Zhao, Yihua Wang, Guang-qi Li, Gang Hou
- Year
- 2023
- Citations
- 4
- Access
- Open access
Abstract
Abstract This paper considers the global trajectory tracking control problem of wheeled mobile robot. A novel tracking controller for the kinematic model of wheeled mobile robot is presented based on the cascaded approach theory. Meanwhile, by using the Lyapunov stability theory, the stability of the controller is proved. Finally, the proposed scheme is implemented on the wheeled mobile robot. The simulation results show the effectiveness of the controller.
Keywords
Mobile robotControl theory (sociology)TrajectoryController (irrigation)Lyapunov stabilityKinematicsTracking (education)Computer scienceStability (learning theory)Lyapunov function
Related papers
OTHER
📊 26,957 cites
Statistical Learning Theory
Yuhai Wu, Vladimir Vapnik
1999
PERCEPTION
📊 22,245 cites
Artificial intelligence: a modern approach
1995
OTHER
Open access📊 20,501 cites
Fractional Differential Equations
Igor Podlubný
2025
OTHER
📊 18,993 cites
Applied Nonlinear Control
Jean-Jacques Slotine, Weiping Li
1991