Simultaneous Stabilization and Tracking of Nonholonomic WMRs With Input Constraints: Controller Design and Experimental Validation

Considering input constraints and parameter uncertainty of the nonholonomic wheeled mobile robots, a new control law has been designed in this paper to solve the tracking and stabilization control problems simultaneously. The asymptotic convergence of the stabilization or tracking errors is achieved...

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Veröffentlicht in:	IEEE transactions on industrial electronics (1982) 2019-07, Vol.66 (7), p.5343-5352
Hauptverfasser:	Wang, Zhuping, Li, Gangbin, Chen, Xiaozhen, Zhang, Hao, Chen, Qijun
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Input constraints Kinematics Mathematical model nonholonomic system Robustness stabilization system uncertainty Trajectory tracking Uncertainty Wheels
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