Simultaneous Tracking and Stabilization of Nonholonomic Wheeled Mobile Robots under Constrained Velocity and Torque
Yuan Li,
Yuyang Cai,
Yong Wang
et al.
Abstract:Currently, most assumptions in nonholonomic mobile robot controllers indicate that the robot velocity can become significantly large and that the robot actuators are able to generate the necessary level of torque input. Based on the sliding mode control theory, this paper develops a new framework to handle the control problem of a wheeled robot dynamics model with constrained velocity and torque. Through rigorous theoretical analysis and extensive simulations, we demonstrate that the proposed controller guaran… Show more
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