Exponential tracking control of a mobile car using a cascaded approach

E. Panteley, A.A.J. Lefeber, A. Loria, H. Nijmeijer

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Abstract

In this paper we address the problem of designing simple global tracking controllers for a kinematic model of a mobile robot and a simple dynamic model of a mobile robot. For this we use a cascaded systems approach, resulting into linear controllers that yield global K-exponential stability of the closed loop system.
Original languageEnglish
Title of host publicationMotion control : a proceedings volume from the IFAC workshop, Grenoble, France, 21-23 September 1998
EditorsD. Georges
Place of PublicationOxford
PublisherPergamon
Pages221-226
ISBN (Print)0-08-043044-9
Publication statusPublished - 1998

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