In this paper, a control scheme that combines a kinematic controller and a sliding mode dynamic controller with external disturbances is proposed for an automatic guided vehicle to track a desired trajectory with a specified constant velocity. It provides a method of taking into account specific mobile robot dynamics to convert desired velocity control inputs into torques for the actual mobile robot. First, velocity control inputs are designed for the kinematic controller to make the tracking error vector asymptotically stable. Then, a sliding mode dynamic controller is designed such that the mobile robot's velocities converge to the velocity control inputs. The control law is obtained based on the backstepping technique. System stability is proved using the Lyapunov stability theory. In addition, a scheme for measuring the errors using a USB camera is described. The simulation and experimental results are presented to illustrate the effectiveness of the proposed controller.
PurposeWith a considerable increase in international students studying in Asia, Taiwan has become one of the most popular study destinations. The purpose of this study is to investigate the factors and processes leading to the choice of international students studying in Taiwan. In addition, an appropriate model of students' choice that explored the impact of the motivation, career planning and the decision-making process on student's choice was constructed.Design/methodology/approachThis study was conducted using the mixed-methods methodology. A qualitative approach was used for in-depth interviews with 15 international students studying in Taiwan. The data collected from the interviews were used to create questionnaires to survey over 500 participants. The responses were subsequently used for quantitative analysis.FindingsThe results revealed the main factors of the motivation of international students to study abroad in Taiwan. A model of how the students' choice process operated was also provided. The quantitative findings indicated that students' motivation and career planning were significantly correlated, whereas both factors directly affected the decision-making process. On another note, the students' decision-making process remained a mediator between motivation, career planning and students' choice.Originality/valueThis research contributed to methodology development and the practicality of HE management. In addition, a comprehensive model was developed that diagrammatically demonstrated international students' choice in Taiwan.
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