Unified nonlinear control for car-like mobile robot 4 wheels steering

Abstract:

This document presents a unified movement control scheme for mobile robots, a mobile four-wheel steering robot, which solves the control of the position of points, tracking problems of trajectories and path following. The control problem is solved according to the CLMR-4WS kinematic model. Then, a control scheme of two angular positions and one heading velocity is considered. The stability of the system is shown through the Lyapunov method.

Año de publicación:

2018

Keywords:

• Non-linear systems
• Unified motion control
• Stability and robustness proof
• Car-like mobile robot four-wheel steering

Fuente:

scopus

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