OTHER
Tracking control of a nonholonomic wheeled mobile robot
Ibrahim M. H. Sanhoury, Salman Amin, Abdul Rashid Husain
- Year
- 2012
- Citations
- 2
Abstract
This paper proposed a tracking control law for the kinematic model of the nonholonomic wheeled mobile robot (WMR). A Lyapunov candidate function is used to prove the stability of the controller. Simulation results verify the effectiveness of the proposed control law, where, a better path tracking of the mobile robot is achieved.
Keywords
Nonholonomic systemMobile robotKinematicsControl theory (sociology)Lyapunov functionComputer scienceController (irrigation)Tracking (education)RobotLyapunov stability
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