Nonlinear Path Control for a Differential Drive Mobile Robot
نویسندگان
چکیده
A nonlinear feedback path controller for a differential drive mobile robot is presented in this paper. First, a kinematic model in error coordinates expressed in a moving reference frame partially linked to the robot is developed. The control law is designed using backstepping method yielding exponential stability of the closed-loop system. Stability analysis is performed via Lyapunov stability theory. Simulation results are presented to illustrate the effectiveness of the proposed controller.
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