Este artigo tem como objetivo caracterizar e apresentar os recentes desenvolvimentos no controle de sistemas não-holonômicos, destacando robôs móveis com restrições Pfaffianas, propiciando um panorama geral para quem esta iniciando na área. As principais ferramentas de modelagem, análise, planejamento do movimento, seguimento de trajetórias e estabilização num ponto de equilíbrio são apresentadas. O desenvolvimento de novas técnicas de análise e síntese de controladores baseada em controle não-linear, controle híbrido, controle variante no tempo, e controle geométrico tem possibilitado o controle de sistemas não-holonômicos. São dados exemplos de aplicação restritos a simulação do controle de um robô móvel com acionamento diferencial. São apresentadas comparações entre algumas técnicas de controle e perspectivas para a área. The objective of this paper is to present recent developments in nonholonomic control systems, mainly mobile robots with Pfaffians constraints, so as to give an overview to the beginners in the area. The main tools used to model, to analyze, to make motion planning and trajectory tracking and to guarantee stabilization in an equilibrium point are presented. The development of new tools in controller analysis and design based in nonlinear, hybrid, time varying, and geometric control made possible the control of nonholonomic systems. Application examples, restricted to simulation of differential driven mobile robot (unicycle) control, are given. A comparative analysis between some control techniques and perspectives to the area are also presented
In this paper we report as the development of a tool in to develop and set control strategies as a fast and easy way. Additionally, a tricycle robot with two traction motors was built to test the strategies produced with the tool. Experimental tests have shown an advantage in the use of such tool.
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