Trajectory stabilization of wheeled system
نویسنده
چکیده
The control problem for wheeled systems similar to a mobile robot, a vehicle, a wheeled tractor, etc. is studied. These systems belong to the class of nonholonomic mechanical systems. Analysis in this paper is limited to kinematic models, and the dynamics of control drives is taken into account. Control that stabilizes the motion of a wheeled system along a given trajectory (planar smooth curve) is constructed. The stabilizability is substantiated in large with respect to basic variables of the system. The similar fact is confirmed when perturbations are taken into account.
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