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.
|Title of host publication||Motion control : a proceedings volume from the IFAC workshop, Grenoble, France, 21-23 September 1998|
|Place of Publication||Oxford|
|Publication status||Published - 1998|