A5062301741- Robotic Path Planning Algorithms
- Control and Dynamics of Mobile Robots
- Adaptive Control of Nonlinear Systems
- Robotic Locomotion and Control
Hangzhou Dianzi University
2022-2024
This article investigates the trajectory tracking control problem for wheeled mobile robot (WMR) subject to both velocity and torque constraints. Firstly, a more general model is established by considering displacement between centre of mass midpoint driving wheels WMR, based on which, new bounded kinematic controller proposed combining first-order filtering approach keep error asymptotically stable. Then dynamic designed stability overall closed-loop system proved Lyapunov theory Barbalat's...
The trajectory tracking control problem for wheeled mobile robot (WMR) subject to generalized torque constraints is studied in this paper. First, a more general model obtained by taking the displacement between centre of mass WMR and midpoint driving wheels into consideration. Then, virtual velocity controller are designed based on new Lyapunov function. Due advantages function, stability error system can be derived directly constraint initial errors removed. Less conservative conditions...